I think you have answer your own question, the key word here is "car". The RX350 is not a car, it s SUV. There is no question in my mind that the suspension in the RX can be better. Then again, the Japanese is not known for their suspension technology, leave that to the Germans, a Lexus is know for its customer service and relaibility. If someone can make a high quality reliable car with a sporty suspension and yet ride comfortably, that would be the perfect car. As far as I know, no one have been able to do that yet.
Yes the Germans make amazing suspensions. The Japanese are no slouches, however. I drive a Honda S2000 and an Acura TSX, both of which have excellent suspensions. The RX300 I didn't consider overly soft. I'm an avid autocrosser and appreciate a firm ride, but given that the RX350 is more driven to the soccer field than off road, a better compromise could have been made. The Jeep Grand Cherokee I used to have had a better ride vs stiffness solution than this RX. I've read that Lexus is trying to move to more performance oriented cars with BMW mentioned as a make to emulate. I believe they will get there, but this RX hasn't done it. (IMHO)