A/C, Breaks, and Tires are about the same. Well, almost since you don't actually use the breaks as much due to motor regen.
Otherwise maintenance is near Nil. Generally there is no need to ever tinker with the motor, power electronics, or battery. There is no oil or other fluids. So minimal maintenance which can be confirmed by the owners of the last generation of RAV4 EVs sold 10 years ago.
The wild card here is the battery. It shouldn't fail completely, but will slowly decay in capacity every year, so after say 10 years you can only go 70% of the original distance on a charge. The decay is faster in the first few years then levels off, so say 80% of original capacity after 5 years and 70% after 10 years. However, this too is not entirely accurate - the decay is affected by a lot of factors - to name a few:
1. Extreme ambient temperatures - this is helped by the TMS in the vehicle.
2. Deep cycling of the battery (charging from close to 0% a lot).
3. Keeping the battery near 100% a lot of the time.
4. Frequent fast charging.
So to sum - other than tires and wipers, generally close to zero maintenance required. Battery might be a problem at some point though, hard to predict at what point if at all. Of course 10+ year old vehicles are not worth much anyway, so probably not a big problem.