Does anyone know if the Transmission and Front Differential share the same Type T-IV oil?
Does anyone know if the Transfer Case and the Rear Differential share the same GL-5 gear oil? I cannot find the filler plug for the Transfer Case.

 

I use to have a 2002 RX but my wife did not like it and traded it in for something else. Anyway, I've never had to replace the trans fluid in it but I do have a 99 ES and it's the same engine as the RX. Not sure of the trans is the same. In the ES, the trans and diff share the same fluid and they both get filled through the dipstick tube. Takes 1 gal. I don't know the rear if your RX is 4WD. Be careful because I also have a 97 Camry and thought that the trans and diff share the same fluid. I later found out that the filler for the diff is different. If you do some minor work on your RX just like I do on my ES, I would check out ebay for a genuine Factory Repair Manual. They are great to have and it tells you everything your need to know. Also great for torque specs. Prices on the manuals (2 volumes usually) range from $75-$99. BTW, you can pick up the Type T trans fluid from a Toyota delear. Much cheaper than Lexus dealer and they are the same. Can do the same also for the coolant... Good luck!