I have a new RX, mark 2, and it displays an average mpg figure. The my normal work commute, a run of just a few miles which I would describe as semi urban is showing around 21 mpg. On longer runs I see this push up to about 27 mpg.
Usual factors may help get higher mpg figures: correct tyre pressures, windows shut, no roof box, steady driving, use of cruise control and air con turned off.