Cruise control uses more fuel than a sensitive foot on the gas. Always.
Cruise control works best at 62 mph.
I’ve been testing this too, and I agree the RAV4 accelerates way too fast and brakes too hard when approaching another vehicle. Now I only use it when I have an open freeway, which is rare in Los Angeles! 
In my experience, cruise control is less efficient. I do regular highway runs and have consistently performed better without it.