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The NX is actually one inch higher than your RX. The new RX is a yacht, it is bigger in every way. They are both very similar in price after discount. The RX is more like an appliance or a soccer mom's car. The NX is more for people who enjoy driving, a young person's car or for empty nesters.
Since an ES350 is probably going to be out of reach for my next lease in December and the NX is probably going to be more in my payment range, I went out and sat in a '20 NX yesterday. This is really the first time I've been in one since they were introduced in 2015. I have to say I was pleasantly surprised at how good it felt. The driver's seat felt every bit as good as my '17 IS200t F Sport and this was a no option basic $38k model. I was kind of dreading having to take a NX for the next 3 years but now it might not be so bad. It's going to be a little bit worse on fuel than my IS since it doesn't get as good highway mileage but it's cheaper on insurance.
Sometime in the next week or so I'm going to try and drive one but you're right it does seem to be more geared towards the driving experience than I remembered it to be.
