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This vehicle is not a robust towing machine.
There are a few older threads discussing this but this one is the best to know if you have the tow prep package and AWD https://www.clublexus.com/forums/rx-...-rx-350-a.html
This might not be the most relevant example, but I used my 2008 Lexus RX400h AWD to move from New York to Florida. It had 180,000 miles on it at the time of the move, and there were no problems either during the trip or afterward. I used a U-Haul 6x12 cargo trailer loaded about 3/4 full with fairly heavy items. The car was definitely struggling a bit, you could feel it, but everything went well.
This might not be the most relevant example, but I used my 2008 Lexus RX400h AWD to move from New York to Florida. It had 180,000 miles on it at the time of the move, and there were no problems either during the trip or afterward. I used a U-Haul 6x12 cargo trailer loaded about 3/4 full with fairly heavy items. The car was definitely struggling a bit, you could feel it, but everything went well.