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Probably best to ask your dealer. Most dealers will switch your RX over to synthetic, so they should be able to give you a recommendation. However, you should be able to safely go more than 5K miles on synthetic oil.
I asked the dealer....they said you can use either conventional or synthetic... it won't void the warranty.
Manual says 5K in "severe" service (taxis and the like) - 7.5K in normal service. I have it changed at about 5K as cheap insurance. Ask anyone who tells you their oil is good for 10K to 25K or more if they'll warranty your engine (Lexus won't).
I am with Lil4X with this one. If you are under the sludge warranty for 1mzfe based RX300 or powertrain warranty for 3mzfe based RX330, change per Lexus' severe schedule with synthetic oil just to be safe.
I posted three used oil analyis results from 1mzfe and 3mzfe owners for reference in this links. Two UOAs with beefer M1 Extended Performance, one for M1 regular. https://www.clublexus.com/forums/sho...d.php?t=244576
Believe me, I want to extend the oil change interval but xMZ engines are harder on both dino and synthetic oil. Extended oil change for one engine does not mean it applies to RX's engine.