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On your 2002 RX300 ...
Did you have it serviced at 60K? This is a big one, with all fluids changed, except washer fluid. Normally, the 75K is the same as the 15K. If it's AWD, a transmission service is recommended. Oil change, check all fluids, check brake pads, rotate tires, inspect chassis, check and replace air filters, if needed, engine and ACC cabin filter ..
The cost is dependant on costs in your area... Newport News is cheaper then Alexandria, what the market will bear.