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It's an absolute b_tch to change those rear plugs! The RX300 is basically a Toyota Highlander - I took mine to the local Toyota dealer and was charged $385.
2003 RX300, 120K. Dealer wants $810 parts and labor to change spark plugs. WTF?
Stealership wants to take you for a ride. Around $300 for parts and labor is about the right. Or just take it a independent shop and have them do it, bring them parts if you want to save more.