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That's a tough one.  Of course you will need a halogen unit if that's what your RX currently has or a Discharge (HID) unit if has than instead.

The weird part is that all the part numbers are different between the 2004-2009 RX330/350 and the 2004-2009 RX400h.  The HID headlights on the RX400h might have been available with and without AFS (adaptive steerable) headlights.  To further complicate matters there were a number of revised part numbers which might have been improvements to resolve issues.  

The best I can do is give you a bunch of part numbers for the right side headlight units.  The following part numbers are for the entire "unit assembly" that contains "everything".  There are other part numbers for portions of the unit assemblies.  I think the part numbers without a description are for the standard halogen units.

For the 2006 RX400h:

1135    UNIT ASSY, HEADLAMP, RH
81130-48200    
81145-48210    PREMIUM PACKAGE(USA)&HEADLAMP-DISCHARGE, GREEN EXTENSION (03/2005 - 07/2005)
81145-48211    PREMIUM PACKAGE(USA)&HEADLAMP-DISCHARGE, GREEN EXTENSION (08/2005 - 07/2006) 
81145-48260    PREMIUM PACKAGE(USA)&HEADLAMP-DISCHARGE & W(*AFLS), GREEN EXTENSION (03/2005 - 07/2005) 
81145-48261    PREMIUM PACKAGE(USA)&HEADLAMP-DISCHARGE & W(*AFLS), GREEN EXTENSION (08/2005 - 07/2007)

For the 2006 RX330/350:

81135    UNIT ASSY, HEADLAMP, RH
81130-0E030    HEAD LAMP-DISCHARGE & W(AFS) (09/2004 - 04/2005)
81130-0E031    HEAD LAMP-DISCHARGE & W(AFS) (09/2005 - 01/2006)
81130-0E040    HEAD LAMP-DISCHARGE & W(AFS) (05/2005 - 08/2005)

The parts list I'm looking at doesn't show a part number for a unit assembly for the RX300/350 with halogen headlights - only the sub-assembly.  Here it is; along with the part numbers for the sub-assemblies for the HID version.:

81110    HEADLAMP ASSY, RH
81110-0E010        
81110-0E030    HEAD LAMP-DISCHARGE & W(AFS) (09/2004 - 04/2005) 
81110-0E031    HEAD LAMP-DISCHARGE & W(AFS) (09/2005 - 01/2006)  
81110-0E040    HEAD LAMP-DISCHARGE & W(AFS) (05/2005 - 08/2005)

All this is unreasonably complicated but it is what it is.

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