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If you found a Generation 5 it had to come for a 2007 RX350 or greater. I am not an expert on this navigation stuff, but I think I have read on this forum that you cannot use a Generation 5 system with the RX330. You might want to consider aftermarket.
Is the navigation screen from a 2006 350 a simple swap (plug/play) with an 2004?
It looks like it could be but then looks can be deceiving.
If this unit truly came from a 2006 model year, then it was an RX330 not a 350. The RX330 used navigation generations 2 through 4. You might want to talk to a Lexus dealer to find compatibility with your 2004 model.
Interestingly enough would bluetooth work with an upgraded unit (for those RX330's that didn't come factory delivered with bluetooth, i.e. 2005+). I wouldn't see how it would work given that the steering controls aren't there (of course you could always change the steering wheel).