Purchased my RX with 84K miles and a 100K warranty. Car was in spectacular condition and according to service records had been meticulously maintained. Dealership found a leaky rear axle seal under warranty, but had no other issues. The 90K maintenance was a bit pricey (timing belt, flushes, et. al.) but reasonable. A fuel modulator had to be replaced right after warranty expired for @ $700 parts & labor. Have not encountered the engine failures that others have reported. Fit, finish & features still solid at 115K and dealership has been just wonderful. Bought an '07 ES 350 two months ago and the trusty '02 RX has become our fun, weekender. This vehicle sold me on future Lexuses from now on!
Vehicle Stability Control, ABS Traction and Snow Controls, Auto Lights & Dimming Mirrors, Premium Sound System, Instrument Layout and LED Info console, Visibility Superb. Had a 10 mph impact with no bumper damage whatsoever.
Heated seats should have been standard, as well as auto door locks and steering wheel stereo controls.