First I would not get a flush,,,,we have found many have tranny problems afterwards as it disturbs sediment and pushes it through the valve body. Your mechanic is full of crap....sorry there are no bars on the AWD in the way. I have done this change myself 7 times. here is a post on Club Lexus which shows the entire procedure....I would dump that mechanic in a heartbeat...I dont trust people that lie to me....We suggest multiple fluid drain and fills to get the fluid prestine. Please read this post:
http://www.clublexus.com/forums/rx-first-generation/220061-photo-diy-rx300-awd-transmission-fluid-pan-filter-change.html
Also the filter is a wire mesh screen in the original transmission. The problem is not the filter but the design of the transmission. Lexus used a very weak design envolving planetary gears mounted in a aluminum carrier...as time goes by the aluminum wears and the gears float, destroying the gears. The fix was a steel carrier with an increase in gears from 4 to 6. The style of driving (city versus freeway) affects these components a great deal...I have seen the poorly designed assembly at a tranny shop locally. His replacement was much more robust. Unfortunately lexus will not tell anyone when the changes were made.