I think you have to appreciate that the RX is a big heavy vehicle and it can tend to go through pads/discs quite quickly if you brake a lot - I don't mean this as being sarcastic, just that given the nature of the vehicle and type of braking its not exactly ideal for (extended) brake life. I would take a look for myself to see how lipped [the discs actually are] and how worn [the pads are] before I commit myself to changing them. Perhaps get a second opinion from a mechanic I trust? I would add the caveat that you should not e taking any chances with the brakes on a vehicle of this size - if in doubt, change them for peace of mind.
To try and help put things into perspective, our RX is still on its own original discs at nearly 50K miles and I do not forsee them needing changing any time before 70K miles (or even later). I did, as a precaution, change the pads all round at 36K myself for peace of mind. It isn't a difficult job TBH, but do put aide a good couple of hours to take it nice and slow

Unlike BMWs, there are no fancy sensors or awkward nuts'n'botls to grapple with. Simple, straight forward calliper, clip, shim and pad.
When it comes to matters like brakes, I will only buy genuine parts or OE (like Jurid, ATE and the like ... ) to ensure I get the quality - as with an unknown brand you never know how they will perform come crunch time.
I went with a pre-paid Lexus Service Plan on my car to avoid the issues around phoning around dealers and costing each service. I fixed my costs and can now take it to whichever franchise Lexus dealership is closest and know it will get serviced without issue. I know this response doesn't help, but you might want to see if you could save money by buying a Service Plan for your car?
I hope this helps?