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I think the 04 RX330's use 3rd Gen Nav, but initiald is correct. These are incompatible systems. Be careful when you buy a Nav disk, there's a specific disk for each generation.
That's correct. 2004 is still 3rd Gen (no Bluetooth or voice command). 2005-06 is 4th Gen, and 2007 is 5th gen.
You can get an update disc for the 3rd gen, but it only changes the map and POI data. You can't add new software features through a disc alone; you'd have to change out hardware.