There's a few ways to come at this...
Fuel efficiency, using Fuelly numbers:
CX-5, 2.5 liter I4: (CX-5 numbers are a bit of a mess due to being mixed between Fuelly's old way of counting engines, and the new way)
2014: 26.6 MPG
2015: 25.8 MPG
2016: 26.0 MPG
RAV4 Hybrid:
2016: 33.8 MPG
The sample size on RAV4 diesels is pretty awful, and spread across multiple types.
The CR-V diesels are scattered across so many incorrect types (2-cylinder diesels? V4 diesels?) that I'm not even gonna attempt to try.
Now, for performance in terms of acceleration and grip... numbers from Car and Driver, MY2016.
CX-5:
Zero to 60 mph: 7.7 sec
Zero to 100 mph: 23.0 sec
Zero to 110 mph: 31.0 sec
Rolling start, 5-60 mph: 8.0 sec
Top gear, 30-50 mph: 3.8 sec
Top gear, 50-70 mph: 5.2 sec
Standing ¼-mile: 16.0 sec @ 86 mph
Top speed (governor limited): 120 mph
Braking, 70-0 mph: 175 ft
Roadholding, 300-ft-dia skidpad*: 0.81 g
RAV4 Hybrid:
Zero to 60 mph: 8.3 sec
Zero to 100 mph: 23.7 sec
Zero to 110 mph: 31.9 sec
Rolling start, 5-60 mph: 8.3 sec
Top gear, 30-50 mph: 4.1 sec
Top gear, 50-70 mph: 5.3 sec
Standing ¼-mile: 16.4 sec @ 86 mph
Top speed (governor limited): 114 mph
Braking, 70-0 mph: 181 ft
Roadholding, 300-ft-dia skidpad: 0.76 g
Yeah, the CX-5 beats it in every respect. Of course, being a full 439 lbs lighter helps...