Dust shroud?

TBH, it is NEVER ok to go under a vehicle with just the jack for support.
If you are just talking about the filler pipe you have access to that from the wheel arch, so as long as you keep your body and head outside the car area, should be ok(-ish). When the wheel is off, slide it under the car to take some impact if the jack drops and maybe add a few pieces of wood between wheel and chassis to lessen the gap.

There should be a few points you can put the axle stands on I am sure.

Thanks Jim, i'll give it a go tomorrow all been well :TU:

Go careful Paul. Hope you feel better later.

Thanks David feeling a lot better now :TU:

Blimey.... if you want to crawl under a car, don't.... buy a green goddess like what I have and you can actually sit up underneath it without using any jacks/axle stands etc. Only thing is to pray that while its sitting there with huge tyres, that a sudden blow-out happens but even then you'd just need to duck.

On the so called dust/muck shield from the front discs....they were designed to prevent Japanese Factory workers manufacturing the RAV4 from trapping their fingers when fitting the wheels. They serve no purpose otherwise. On my 1994 cars, I removed them as they kept scraping on my precious discs. Then ran the cars for a good few years afterwards. No problems and I don't think their removal resulted in the extensive rust around the rear sub-frame mountings.
A 2002/3 RAV4 ? It'll last another 10 years.
Or flog it for three grand, and buy a green goddess. Theres one for sale at £2,000 just now...running order; no MOT needed; no road tax; and a 500 gallon tank designed for water but needed as a supplementary petrol tank to save towing a tanker. Oh. And insurance at £80 a year.

It's not a Green Goddess I need more like a Greek Goddess Bothy :TU: