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You'll be okay to switch to synthetic. In terms of safety, I always use gloves when changing oil and I currently use synthetic. The only time my gloves come into contact with the oil is when I remove the drain plug & when I'm placing oil around the seal of my new filter.
I have to say that I have never heard of the hazards of handling synthetic before, but I will be careful.
There's no hazard specific to SYNTHETIC oil. Any oil, especially used, is hazardous. Throw on a pair of disposable latex gloves (you know the kind the doc checks your prostate with??!!) and you're good to go.
BTW, to answer your specific question, yes, switch to synthetic - no problems.
I might recommend the Toyota 0w20 for your vehicle. It's synthetic and the VOA on it shows it to be a robust oil with a high VI.
So is it 0w20 or 5w20? Or should my RX just be content with the Mobil 1 5w30? Either way it is better then conventional oil.
Either is fine - I guess it depends on how cold it gets where you are - the 0 weight will flow better in colder weather.
The 5w30 will be fine as well. The owner's manual originally spec'd 5w30. It's only been in the past few years that the Xw20's have become popular. Honda and Ford have been spec'ing 20 weights for quite a while now (almost 10 years maybe), and Toyota has only recently jumped on that bandwagon.
When I bought a case of the 0w20 at my local dealer, I asked the parts guy to confirm it was synthetic (since it doesn't say synthetic on the bottle like the other 5w30 and 5w20 Toyota oils). He showed me an internal Toyota memo (and an email from Toyota Canada) confirming it was synthetic. The internal memo went on for four pages, also indicating that 0w20 would soon be the only oil spec'd for Toyota/Lexus engines in the future.
In fact, bring up the 2010 RX350 owner's manual and you'll see that 0w20 is the oil specified...