There is always a way to adjust them. The dealer is just giving you crap. I assume the adjustments are similar on the 3rd gen RX, but I don't know for sure. I would post on the 3rd gen RX forum and see if anyone there can help.

There is a lengthy discussion of which I'm a part in the 3rd Gen RX forum. I just thought I'd see what 2nd Gen owners might say. Thanks.

I realize this is an old thread, however, it's been very helpful. I had my wife's '04 damaged headlight replaced (passenger side). The shop assured me that they had aimed it.

Well, guess what? It was way too high. Using the side of a white building, it took 20 turns of the adjusting screw/bolt (CW) to bring it down to the level of the driver's side. (plus 25 turns of the adjusting gear-1.25 to 1.0)

I checked it because the annual inspection is due. Like others have mentioned, the pictures in the manual really don't help to locate the adjusters.

Edit: passed inspection with flying colors.