Common advice says don’t go into a dealership until you know what you want but how do I know that unless I go into the dealership?

I think I want a Toyota rav4 but I need to drive it first! So what’s the problem with going and doing a test drive? Does it just mean that you should have a vague idea of what you are looking for / want to look at? Or does it mean you should know exactly the car you want? Also the first Toyota dealership I went to, just to look, not test drive, I later read that this dealership is known for insane markups so I don’t want to go back there. There is shopping around for the car itself but what should I look for in a dealership (I…

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