Thank you very much for your detailed reply, that is really helpful. I live in orange county, and I went to Tustin Lexus, where the former owner did the maintenance.
I know there is another "elmore toyota" nearby with special timing belt change for $269, I will ask if they will change Lexus(I know the Lexus is the same 3MZ-FE engine as highlander).
I can only do simple fluid change(did transmission/power steering/brake/coolant) for my Corolla before, and I believe I can handle the lexus, too. But I can't really handle the engine job, even a spark plug change, so I will have them done by shop.
I will shop around and may wait till 80k miles to do the belt change, my wife drive the car, normally it is only 5k miles a year since she stays home.
Thanks a million.