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Well, 3,200 pounds sounds too light, but maybe. I have a FWD 2002 RX300 and I think it weighs about 3,700 pounds (a little more with sunroof, a little less without sunroof). I only have data on the 2002 model year.
pretty sure Lexus changed their recommendation that the RX300 be towed. The owners manual changed because of the tranny failures from people towing RX's from behind their RVs.