Just changed the oil, working from the top-side, contrary to concerns some had expressed, there is no problem accessing and loosening the longer Lexus oil filter, 90915-YZZD3, when using an end-cap oil filter wrench. The oil was changed HOT, but an old leather glove was utilized which completely prevented a hot manifold encounter.
The filter was loosened just enough to let a thin stream of oil come-out the bottom, made next to no mess and no oil touched the plastic fairing underneath. The filter was then fully screwed-off from the top, then rotated so the drain hole was facing-up and then lowered and set on the plastic fairing below (the screws for which had already been removed); it was then easily removed from the bottom.
What in most cars would be a 10-minute oil change was a 25-minute oil change. As this was only my second RX oil change, hopefully the time will get shorter with practice.