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Yes, early 1999 and 2000 RX 300's had an issue with "oil gelling" or "sludging". This was actually pretty rare but did occur if oil change intervals were not observed religiously - especially if the vehicle was used in primarily in stop and go traffic in humid weather. It took many thousands of miles to surface, but Lexus made good on the warranty, extending it out to some eight years. In most cases, unless they can prove abuse of the vehicle, they will repair it under warranty.
Search the RX 300 forum using the keywords "oil gelling" using the "Advanced Search" function at the top of the page - you should get a half-dozen threads related to this topic over the past year. If your local Lexus dealer doesn't give you a satisfactory answer, call Lexus Customer Assistance number located in the FAQ thread above. Let us know how you come out!
I seem to recall that there was some discussion about showing proof that the oil in the vehicle was changed at least once a year. I guess not changing oil at least once a year would be grounds for abuse!
Contacted my local Lexus dealer and the "engine gelling" is covered by Toyota. It takes about a week to get fixed/engine replaced and Lexus covers all repairs plus add. expenses like rental car and previous attempts at repair.
Hopefully all goes smoothly, can't imagine Lexus not!