Toyota RAV4 CV Edge or Hyundai Tucson City Elite?

I have shortlisted these two cars with pretty much the same features. The major difference is RAV4 is AWD and Tucson City is a 2WD, but the price difference is around AUD10000. Is RAV4 worth the 10K? Is the AWD on a compact SUV really worth it? Majority of my driving will be around the city and highways and the occasional rides around the Australian Outback.....Do you think you can go offroad on a 2WD to a certain extent?