The Rav4/Across is just one part of the collaboration. Suzuki will also have a version of the Corolla Touring Sport. Toyota are getting access to Suzuki's new petrol engines for compact cars, built by Toyota Poland. Presume these may first be seen in the new Yaris - although suspect the UK may only get Yaris hybrids.
Back in 2009 Suzuki and VW formed a partnership - Suzuki was to get access to VW tech on hybrids and diesel engines as they didn't have the resources to develop these themselves, and VW was to use Suzuki's expertise in small cars for countries such as India. However, Suzuki forced an end to the partnership in 2015 after not getting access to diesel engines from VW, and having to source them from Fiat.