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There's the Bilstein B6 struts and shocks (front from 10-13 Highlander, rear from 14-19 Highlander) which I put on my '14 F-Sport. That's about as high performance as you're going to get on these things before going to coilovers. Rides better than the F-Sport dampers and handles better too - worth every penny. It still doesn't handle as well as my older RX, but it made the car a lot more bearable to drive. There's a lot of posts about it from Clutchless that I would search for, all the part numbers, etc are there.
Take the time to read the thread below labeled Hard Suspension etc after post 500 and the other link. They will tell you about Bilstein B6 struts and shocks as none of them are officially listed for the RX350. You can even search within the thread for Bilstein to speed it up. Parts numbers are listed below.
They are for the Toyota Highlander, but the front struts are from the older pre 2013 generation and the rears from a newer 2014 and up generation Highlander. It lists the part numbers. Rock Auto often carries them. They make a difference.
Late last year Bilstein introduced their rear shocks for the Toyota Highlander. Forum members here have reported them to be a perfect fit on their third-generation RX350 (just as you would expect since the Highlander is the same platform).
The appropriate Bilstein B6 part number is 24-282901 for both rear shocks.
The appropriate Bilstein B6 front left strut part number is 22-282873.
The appropriate Bilstein B6 front right strut part number is 22-282880.
I recommend new front strut mount bearings and only get Toyota ones for durability. Maybe replace the strut mounts if you want, and check the strut shaft boots before ordering as they are often ripped. Then you need a spring compressor, or remove them and have a shop do the spring compression and swap over. Make sure the strut mounts are aligned the same way when you put them back it as it affects alignment.
Factory Fsport struts are firmer than non-Fsport. I just replaced my front struts, strut bearings, boots, and sway bar links. The only pain was having to compress the springs for the new OEM Fsport strut install. Back to "like new" cornering for me.
It was probably the comparison with the BMW X5M, as I have driven the regular 2022 X5 and it handles and steers way better than the RX, after all it is a BMW.
However, I think you should put a set of Bilstein B6 struts and shocks on it. You will enjoy driving it much more with the refresh and they are much better than the OEM struts and shocks.