hello guys. have my Rx 2013 parked in garage last 2 years. all driven only 5000km. just did my oil change after 2 years. have i damaged anything you would think? been filled with 0w20, warmed up every week. have i hurt that beauty?

 

Unlikely that any engine damage has occurred. Get it out on the highway and pay attention to any unusual noises or vibrations. What you will probably need is a new battery.

 

Zero issue.
Find my post somewhere... I accidentally ran something like 27,000 km and 2 years on the same oil. 0w20 Castrol Synthetic. I got it analyzed when I changed it and there was NOTHING wrong with it.

 

If your RX350 is currently running well without any issue; then your engine is fine. I once stored my old 1992 Mazda Protege for 3 years without an oil change while I was stationed in Germany on an Army tour from 1997-2000. The car started right up and ran perfectly with the old 3 year low quality non-synthetic Kendal brand oil still in the engine when I returned home. Therefore, I will assume that your engine with modern synthetic oil is just fine with only two years of storage.