The engine air filter should be good until 30,000 miles. I just replaced mine at 29,700 miles.
The cabin filter is probably ready for replacement. Think the Lexus recommendation is for 15,000 miles but after 2 years of use, it might be pretty dirty. I clean my cabin filter every 5,000 miles and replace it around 15,000 miles.
Wiper blades need replacement by use and age. Hot weather and plenty of use in rain would make them close. If they still clear/clean well wait for a dealer special on their replacement. I did my fronts at 18 months. Rear will be changed soon.

All of these items are easy DIY things and the parts are much less when purchased online.

 

My RX is coming due for its 30K service, and both engine and cabin air filters are on the list to be replaced. Also wiper blades.

 

The engine air filter is a critical filter. Intake air is the only was dirt can get into your engine.