I purchased my 2006 AWD RX400h about six years ago from the dealership. It was a lease return with 60,000 miles and came with the 100,000 mile certified warranty. I did have to use that warranty for several items, most expensive was the replacement of the Mark Levinson audio system.
That car has served me well. Up until recently, not a lick of problems. I took it 'everywhere'. Multiple trips to the northern Rocky Mountains. Got stuck on a steep snow-covered slope, (was able to drive out with a 'head start'). Went 'off road' while doing field work with my students in my mapping class.