I have a 2010 RX350 w/ 32,000 miles I'm experiencing a slight hesitation upon acceleration from a stop, has anyone noticed the same thing?

 

That is really low mileage if you meant 32,000.
Have you checked the engine air filter? A dirty restrictive air filter could be a cause.
When was the oil last changed? I asked because of the apparent low mileage. It should still be changed once a year as it turns acidic.

You could just have dirty injectors and carbon build up. Try running a bottle of Techron Fuel System Cleaner in the gas tank. Get the larger size bottle. It should work as you drive on that tank of gas. It is available at every chain car parts store and Wal-Mart.

Other than that you may need someone to check for stored codes to see if there are any indicative of related problems.

 

Also, clean the throttle body and the MAF sensor.

If you only do short trips in this car, take it on a highway. Driving for half an hour at highway speeds may clean out the engine.

 

Among so many possibilities, there can be an issue with return of brake fluid. When you brake to stop the fluid is pumped to the slave cylinders. When you lift the foot off the brake pedal, the fluid pressure is released and as the wheels turn, they push back on the pads and the fluid returns to the master cylinder [I am skipping over the ABS module]. If there is any restriction in the flow the brakes add a drag. If your calipers are rusty [due to inactivity or lack of proper lube] they also can hamper forward progress.

Salim

 

This is related to Salim's comment, with that low a milage you probably have the original brakes. Your brake caliper slide pins may be frozen and stuck causing brake drag and uneven brake wear. They are often neglected. These slide pins should be cleaned and re-greased every few years to prevent this from happening. There are 2 on each caliper. It is an easy job.

I had to replace a caliper bracket on my HS250 because one of the slide pins was frozen and could not be removed without damage. This was due to it being a hybrid and I knew the pads did not wear much and neglected to clean and lube the slide pins as I do on other vehicles. I learned my lesson.

 

Our 2016 RX350 is the same! I took it to the dealership for service and a recall notice. I told them of the hesitation on acceleration problem, and they seemed to be at a loss. Cleaned the fuel injectors, and a few other things, but, nothing they tried, helped. I’m not the only one that FEELS it. My passengers can feel it, as well! This is my 3rd RX350, and at least the last 2 had this same problem. I just want to get it FIXED.

 

Another possibility is an underfilled transmission. I noticed this when I bought a used 2013 Sienna. It had hesitation, especially from a stop and had 88,000 miles.
It has the same engine and transmission as the RX. I did a cold drain and fill on the transmission and noticed only 1.8 quarts drained. I was sure it was the original ATF.
I get 2.25 quarts drained on the RX and am sure that is the proper amount having done many of these on the RX, an ES and 2 Siennas.
I put in 2 quarts and it was a little better. Over the next 2 drain and fills I kept adding more fluid until I got to 2.25 quarts, same as the RX and then the hesitation was gone!
It had instant throttle response from a stop, just like the RX!

However your 2016 is a 4th Gen RX and has the 8 speed transmission which is known for hesitating and lagging, hunting shift issues when it was first introduced. You may want to post in the 4th Gen forum. The 3rd gen RX has the 6 speed transmission, except for the 2015 F-Sport model which has the 8 speed.

If the dealer will not service the transmission or check the level and tells you it is sealed for life, call another Lexus or Toyota dealer. Some will do a fluid change and fill and others will not. Many members use Toyota dealers for service. Or find a good independent Toyota specialist shop. Being the largest car company in the world, there are many such shops around. Usually run by folks who used to work at Toyota dealers.