I go along with the recommendations of Consumer Reports on Warranty. Bottom line they are a waste of money. Most products including vehicles will hold up under the basic warranty offered. If anything is going to go wrong it usually will happen when the product (vehicle) is still under the manufacturer's basic warranty. Look at this way. The extended warranty people are in the business to make money, not loose it. I would never buy anything, toasters to automobiles if I felt it was a lousy product and needed extended warranty. The odds of you wasting your money are much higher than you having enough problems to break even on your extended warranty.

Also get your dealer to see if your RX is one that needs the oil line changed. There is a recall for certain 07 and 08 RX350 to get this done. I had mine done several weeks ago.
Cat

 

+1 here also. One of my in-law bought an extended warranty on a 03 Honda Odyssey when the car was new, and it broke down one time. when she brought it into the dealer to get it fixed under the extended warranty, the dealer 'claimed' that some rodent chew some wire in the engine bay causes not to start and does not fall under the extended warranty - WTF. It's experiences like this that I also do not buy additional warranty like Cat stated above.

Plus, 20k for an 07 RX350 with only 6,000 miles from a person you know who took great care of the vehicle, I'll take my chances any day WITHOUT the additional warranty. Awesome deal that the OP got by the way

 

The rodent story is very interesting. It does fall under accident/owner-neglect category and not under vehicle failure. Unless rodent access is traced down to a design flaw.

Same as dog/cat tears up upholstery.

Salim