For the third generation released in 2009, both RX 350 (3.5-liter V6) and RX 450h (3.5-liter V6 hybrid) models were initially offered, with an entry-level RX 270 (2.7-liter inline-four) offered by Lexus in some Asian markets, including in Japan, since 2010. In 2005, a hybridized gasoline-electric version of the 3.3-liter second-generation model was made available as the RX 400h in export markets and as the Harrier Hybrid in Japan.

Like the previous series, a 2.4-liter inline-four engine was sold alongside the 3.0-liter V6 in the Japanese market Harrier. The second-generation RX 300 (3.0-liter V6) and RX 330 (3.3-liter V6) models went on sale in 2003, with both variants supplanted by the more powerful RX 350 (3.5-liter V6) in 2006. The Japanese market Harrier released in 1997 also offered a 2.2-liter inline-four, later uprated to 2.4 liters. The first-generation RX 300, fitted with a 3.0-liter V6 engine, began sales in 1998. The RX's current Toyota counterparts are the Highlander/ Kluger past counterparts were the Harrier and Venza. It has also been labelled as 'Recreational Cross Country' in some markets. The name 'RX' stands for 'Radiant Crossover'. In the Lexus model lineup, the RX sits below the larger GX and LX (marketed as the Toyota Land Cruiser Prado and the Toyota Land Cruiser body-on-frame SUVs outside North America), and above the smaller NX crossover with a lesser displacement inline-four engine. Both front- and four-wheel drive configurations have been used on the RX series, and several gasoline powertrain options, including V6 engines and hybrid systems, have been offered.

Considered as the first luxury crossover SUV, four generations of the RX have been produced to date, the first being compact in size, and the latter three classified as mid-size. Originally released in its home market of Japan in late 1997 as the Toyota Harrier, export sales began in March 1998 as the Lexus RX. The Lexus RX ( Japanese: レクサス・RX, Hepburn: Rekusasu RX ) is a luxury crossover SUV sold since 1998 by Lexus, a luxury division of Toyota. Toyota Harrier (XU60) (Japan, for XU30 model)

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