Which RAV4 (or CRV) for me?

Going to be buying a car (my only car), and I'm pretty much set on a RAV4 or
CRV, leaning towards the RAV4 based on my mechanic telling me that both
will last a long time with low maintenance cost but the RAV4s he sees "run
forever".  Based on the below, please let me know any thoughts you have on
which model I should go for.

I want a low mileage used model.  Probably 2018 to 2020, and I'm looking at
fewer than 30K miles.

I'm still researching the models, but what I'm looking for is a low
maintenance car that will last me many years and allow me to haul some
cargo if I need to and will support my outdoor adventuring, which includes
mountain roads.  I have not found myself on any roads where my current car
(which would be far inferior to a crossover) didn't get me to where I needed
to go, but its low clearance was a problem at times.  I only ended up in snow
or a dirt road a few times, but this is in part due to my avoidance of such
conditions -- with my new car, I want to worry less about going down a rough
dirt road or getting caught on a mountain with snow.  But I do not currently
live in snow or regularly drive on rough roads.  That said, I could see myself
living in a region with snow in the future (as soon as, say, two or three
years).  I just don't know.

The only other thing that might be more important to me than to any other
person is that I would value higher safety.  From my research, it looks like all
of these models are on roughly the same footing safety-wise.

Thank you in advance!