As my RX had this problem and I managed to fix it, thanks to this thread, I thought it useful to add my experience to the mix. A few months back, as the cold weather set in I had the typical total shutdown of rear door latch switch, tailgate lift motor & interior lights. No battery recharging or resetting would fix it, I waited for warmer weather for it to start working again but no luck. Got lucky and sourced a well priced new OEM motor off FB marketplace, saw the pretty basic YT vid of the american guy fitting it, which gave me confidence it was doable. Having done the job successfully (I will admit I punched the air when the motor kicked in) my tips are these:
You need to be confident at popping the interior panels out, perhaps buy a plastic crowbar kit as there are places where metal/glass damage is possible if using screwdrivers etc. You will need a decent 3/8 or half inch socket set (bolts are 10mm but need plenty of leverage) preferably with knuckle and short extensions. When fitting the new motor you should probably use lots of thread lock, some tinkering will be needed to get the bracket holes to line up. Fit all the bolts quite loose at first and then tighten once they're all in position. Whole job took around 90 minutes.
If you can do stuff like fit kitchen cabinets or do decent level DiY you can definitely do this job and save yourself a bomb at a Lexus dealer.