Both are IIUC substantially smaller than the typical minivan, and the recent CR-V redesign especially looks bigger than it is. Honda also has the HR-V, which is a smaller crossover thing with much stronger classic hatchback vibes; not sure if Toyota sells anything similar.
I'm thinking of something more akin to the old hatchbacks, but that may be getting close.
(Comparing the RAV4 to the Camry really shows the Camry's weaknesses, it's a bigger car with less room).