No wax, lotion, soup, stew, goo, stickum, "sealant", or other compound will help anything. Most of them won't hurt anything either, except the amount of money in your wallet. The current RAV4 has LED headlamps, and the lenses are going to rul a lot cooler, therefore last a lot longer for you than they would with halogen or LED light sources.
The lighting issue to lose sleep over is at the other end of the car: the brake lights are not big enough in lit area to meet the relevant US/Canadian regulations. I've heard a rumor that the latest-production RAV4s have begun using the dumb trick of activating the rear position (tail) lights whenever the stop (brake) lights are lit, which arguably lets them pretend to meet the letter of the law -- though not its intent or spirit. But I have yet to see a current RAV4 set up that way; all of the many I have seen so far light only the stop light, a dinky little item nowhere near the required 50 square centimeters in lit area. Not that there's anything you can really do about it, but there it is.
(See also: Lexus NX-series's brake lights until '19 or so, the current Mazda CX-5's brake lights, the current Mazda3's rear turn signals, at least one Mercedes model...)