I have RX300 MK2, I have had a towsure bar fitted to my Lexus.I rung my local Lexus dealer who wanted over £700 to fit one.Made many phone calls to various fitters and all said they could not fit one to my vehicle.This was in April of this year,one of the fitters called Towsure to find out about a towbars fot the RX.
Towsure was looking for a donor vehicle, only problem they are Sheffield some 200 miles away, but they would fit one for £100.00.They made a superb job of it though it took all day for them to fit it.I have towed with my Lexus and it handles well if not better than my Grand Cherokee and Discovery.
I would suggest contacting Towsure in Sheffield as they said it would only be a couple of months before the bar became available.Though it will cost a bit more than a £100.00, I was the first MK2 RX owner to have a non lexus bar fitted.
Mark