Want feed back and people’s opinions!

Hey everyone! I currently drive a 2012 Highlander, that has 157,886 miles bought at about 135kish miles. I really enjoy it, it’s the first car I bought myself so I’m proud of that and drive it all over the place. I know Toyotas usually last forever, so I’m not in a rush to buy a new car. It is getting up in age and getting 19 MPG. Previous owners also never changed the transmission fluid, so eventually that can lead to problems. It’s making a creaking noise from the front driver side when turning. Took it to a mechanic and he said it’s not an issue and won’t hurt the car, everything else is intact and working. So, I’ve been looking around seeing what’s out there and weighing my options. I really liked the RAV4 and it would be nice to downsize a little. The better gas mileage is a plus. I’ve seen used cars with low mileage (under 30k miles) be about only $5k cheaper than a new one. Facebook marketplace seems very sketchy from what I’ve been seeing. Half the people don’t even provide the VIN number. So I went to look at a RAV4 yesterday it was a 2025. I loved it. They offered $6k for my Highlander (a little low, would try to negotiate). They would sell me a 2025 XLE has everything except leather for $30,921. I am 26 years old and have been saving up money. I just don’t know what to do. It is so much money and the biggest purchase I’ve ever made. It’s just very stressful and anxious in deciding. I’m sorry for such a long post, but any input or experiences would be greatly appreciated! It’s a big decision I need to make, I know. I would just love some advice as this is the first time talking to a dealer.