Coming from a Toyota dealer, when a Lexus came in, it was the same as a Toyota. We went off the engine to do our oil changes. Example, RX330s have 3MZs just like Highlanders/Siennas. 5 qts of conventional 5w-30 with a D1 oil filter. For newer Lexus such as 4GR in the IS350, those took synthetic 0w-20. Oil filter size was the same as the newer FJs and 4Runners with 1GR. Those used an A3 or A5 filter. Same size just A5 had oil drain adapter.
Prices vary on dealership and region. Older Lexus using 1MZ/3MZ would be $32.

 

I no longer do the regular 5K service myself. I am to old and can't get under car like I did before. I recently had the 70K service done on my 2007 RX350 at Toyota and the cost was just $37.12. If I had gone to the Lexus dealership that is 50 miles away the cost would have been triple that.