Car shut off and would not restart

Have you checked for fuel pressure? What about reading the diagnostic fault codes?

Wiring problems only cover about half of the list of possible causes. Since you're checking for spark, I assume "failed to start" doesn't refer to the starter failing to crank the engine. The most common suspects are the crankshaft position sensor and the camshaft position sensor. The fault codes will indicate which circuit or system needs further diagnosis.

The alternator could be defective and not reconditioning the battery or the battery is sulfated not taking the charge

Damn dude you didn't even bother looking around here 1st....don't worry i'll do it for you.

https://www.2carpros.com/forum/2003-toyota-rav4-replaced-battery-and-now-wont-start-vt91390.html

With this code and a crank no start condition you are more than likely looking at a failed camshaft position sensor. This is a fairly inexpensive part ($80-100). Checking resistance (ohms) of the sensor your range should be between the following and not at either extreme, as this is an indication of coming failure. If it is cold where you live
-10-50deg F, then your range is 985-1600ohms
50-100deg F, then your range is 1265-1895ohms.
Keep in mind you can have a failed component that tests good ohms.