Usually both Thule Racks and Yakima racks both have outstanding car rack solutions to choose from for any specific vehicle (they are basically the only two reputable car rack manufacturers currently producing multi-purpose after-market roof rack systems. Their are several other car rack companies out there but they mostly make just gear carrier attachments that connect to the Thule Racks and Yakima Racks base rack crossbars, as well as factory rack crossbars). In your case however, Thule Racks never got around to engineering a 2005 Toyota RAV4 roof rack system for the model that doesnt have a factory rack system already installed. So the Yakima Racks option is the way to go here...
The Yakima Q Towers Complete Roof Rack Base System fits the 2005 Toyota RAV4 like a glove. No matter what gear you plan to carry on your roof, you will need a multi-purpose roof rack base system. The Yakima Q Tower system includes four Q Towers, two pairs of Q99 Clips (these Q Clips are specific to your 2005 Toyota RAV 4) and two cross bars. You will then attach the surfboard carrier directly to the Q Tower front and rear cross bars. The 48 inch crossbars are the recommended length for the 2005 Toyota RAV-4 rooftop.
Yakima Roof Racks - 2008 All-New Yakima Q Tower Complete Car Roof Rack
You should also consider getting a Yakima 4 pack of locks to lock the Q Towers to the rooftop.
You can then attach the Yakima StrapThang surfboard rack directly to the Q Tower base rack cross bars. It is recommended that you use the Strap Thang in combination with cross bar pads too. The Yakima Strap Thang surfboard rack can carry 2 surfboards.
Yakima Surfboard Racks - Yakima StrapThang for Securing Windsurfers & Surfboards on Roof Racks (4014)
Yakima Cross bar pads
Yakima Crossbar Pads for Kayaks Canoes Boats Surfboards - Car Rack Pads (4008)