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Failing O2 sensors for the 2nd Generation RX350 seem to be normal. The MAF sensor seems to be mostly trouble free. So, believe you are on the right track.
I reset my codes by going to the local auto shop, borrowing their code reader and pressing delete. They would not do it for me as they are not a repair shop, but they let me do it myself. This way i did not have to mess with the battery disconnect PITA. Of course Lexus stealership said the only way to clear them was to come in. Boo Lexus!
other option is to clear it for now and see if it comes back. sometimes its a one time deal, peice of dirt or something blocks the sensor momentarily etc
Thanks for all, I have cleared them 5 times and they keep coming back. I changed my oil yesterday and looked at the sensor position, it looks like a pain to get out but I will have to do it. Thanks again everyone. If anyone has any more advice please let me know. I'm open to all.
I am having the same issue exactly (P0031, P2195) and I am about to buy the parts and give the replacement a shot. I am looking for any helpful information or guidance. Links, Photos,Videos, How to?