I have had this problem in my own 2007 RX400h. I solved this by covering one of the small IR LEDS.
Try the following procedure while you have the headphones on (one per time):
1. Check on which side you have the problem (left or right)
2. Put your finger on these IR LEDS one by one
3. Find that which interferes into the other frequency and cover it by sticky small black paper
If that doesn't work change the frequency from the control panel
Please have in mind that this for a European RX with two headrest screens.
Hope it works on you as well.