The basic issue is when I open my rear door (lift gate) of my 01 RX300, the door opens to about 80% of the regular height just fine, but the last 20% it opens REALLY slowly.

I heard I will need to replace the 2 rear hatch lift supports. Is this true?

Is this covered under warranty?

I have a 2001 RX 300 Silversport with 61k miles.

Thanks!

I am moving this to the RX section.
Also most shocks are made to slowly open at the end of the cycle to allow for anything it may hit or touch to not damage the paint of the liftgate or anything in its path.
If it no longer raises unaided then they would need replacement.