I just went through the whole process of replacing tires on my RX took me 3 weeks to choose and find.
Dealership tires are overly overpriced and do not have warranty. for less then that you can go to discount tire store and put much better Michelin Latitude Tour or even cheaper Bridgestone Dueler H/L Alenza. Both of them have 65K treadwear warranty so your investment is protected. On top of that you have free ballance, rotation and road hazard. Best deal