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I've been rear-ended in an RX a couple of times, so I know what the body shops charge.
Replacing the rear bumper cover (none of the parts underneath - just the plastic part you see) is about $600 total. That includes the bumper pad (the black piece of plastic that says "Lexus"), labor and painting to match the car.
I have had so many dings on the front and rear bumpers. Got to happen so often with the drivers down here, I just use a black sharpie to touch it up.
A few times it cracked slightly on the paint, but not enough that the bumper was compromised and my uncle used some kind of paste that he sanded down and later painted over it.
Again, this is Mexico and I have talked to friend in body shops in the states who laugh at this, but remember they will also be laughing all the way to the bank with your money at the end of the day.