I have this rough noise coming from the engine (?) of my 2017 RX-350 with 100K miles: The oil has been recently changed (the noise was present before the change too). I am using the recommended fully synthetic oil 0w20.

I am going to take it to a shop, but please share your ideas what it might be.

I have no idea if this is the cause but here is one video explaining similar noises (note that the Highlander listed in the video I believe has a closely related fks 2gr engine. Ironically the video does not show the noise....seems like an AI video.
Might be worth a watch and a little research on the TSB.

Good luck.

To me my car's noise is not a "knocking" but a raspy rolling noise.

To me, sounds like bearing noise.

It sounds like pulleys or water pump or even the belt.

If you would like to DIY troubleshoot, try listening through a long heavy duty screw driver to help narrow down the problem location. Take a look at this video.

He is right. Remove the belt and there is your answer.

Water pump failure is common.