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There are a LOT of reviews for the gen 4 RX Curt and Draw-Tite hitches on the etrailer website. People seem pleased with them. I see that the installation difficulty rating for both is "3 out of 10" which is about the easiest rating that etrailer gives for installing receiver hitches. I've bought a lot of stuff from etrailer including the receiver hitches on our current vehicles, wiring harnesses, bike racks, etc. The appearance of the Curt hitches I've bought has held up a little better than the only Draw-Tite hitch I've bought but that may have been a coincidence. There are a lot more reviews for the Curt hitch than the Draw-Tite hitch on the etrailer website. There are installation videos for both products on the etrailer website. If you are going to install a trailer light wiring harness, what you need depends on whether or not your RX has the optional towing prep package. And of course the towing capability without the optional towing prep package is sharply reduced. The towing prep package for the 2016 RX350 included the following: Heavy-duty radiator and cooling fan, engine and transmission oil coolers. If you are don't know if your RX has the towing prep package, you can determine that by either looking for the engine and transmission oil coolers in the engine compartment (they are pretty easy to see if you know what they look like) or you can view the build specifications for your RX at https://drivers.lexus.com/lexusdrivers/resources/vehicle-specs