I have been reviewing the owner's manual and can find nothing that addresses this issue. Must the car be put into park before you can open any door? It appears that either from inside or outside I am able to open the doors, it can be a pain in some situations.
Thanks

 

You can leave it drive, you DO have to push the unlock button though.

 

What scenario requires you to open the door with the car in “Drive?”

 

A PASSENGER might want to get out while the RX is stationary....
Putting the car in Park is another bit of Muscle Memory to learn.

The reason that it is the default is safety.

 

The PASSENGERs also have get INTO the car if you are picking them up - allowed only after I hit the unlock button, if you are not in park. So quite some muscle-memory requirement.