Just wanted to say thanks for those who have posted their tips. Just replaced the actuator on my wife's 03 RX300. I struggled with getting the old actuator out to see what needed to be done until I figured out you needed to disconnect the 2 rods coming from the outside door handle and key mechanism. Once I removed those yes it all was easy and became clear. The smaller thinner rod with the red plastic connector can be released by holding the rod with your thumb, then pressing on the red plastic coupler with your finger, you'll feel the coupler pop off the rod, then you can slide the rod sideways to remove it. The larger diameter rod simply presses out of the metal slide braket. I had to wriggle the outside handle open/close several times to get it off. Here's the actuator out of the door...
I saw what looked like a likely place to install the rod from the new actuator on the cam for the manual lock. The rod that came with my actuator was a snug press fit, but once I started re-installing the actuator into the door the rod would pop out, so I figured I better look for a more secure location. Here's a pic of the cam that I tried but didn't work...
I drilled the cam where old actuator was attached and inserted the rod that came with the new actuator...
You will have to remove the white plastic shield, 2 screws from the actuator before using this location, then also trim the shield to allow the actuator rod free movement. I then held the actuator up to the door to get an idea of how to best bend the new actuator rod. Took several attempts till I could easily push/pull the rod to lock/unlock the door, and clear the window channel. Once I was happy I started to find a place to mount the new actuator. I made a cardboard template so I'd know where to drill holes. Again took several attempts to get it right so that the new actuator moved the lock completely.
Once I had the new actuator securely fastened and tested, I soldered and shrink wrapped the new electrical connections and put everything back together. Here's the actuator I used from All Electronics, 2-wire Actuator P3500, $5.50
All Electronics