I bought a FWD '01 with 79k on it last year. It now has 103k. I've never had any problems with it. I drive it fairly hard in So. Cali traffic. My only regret is that I didn't buy one with the wood on the steering wheel and shifter (see my topic "steering wheel needed").
I use it for everything, snowboarding trips, surfing trips, cross country drives, work vehicle, daily driver. It's fantastic. It's the most versatile vehicle I've ever owned. I used to do plumbing, and I bought a rubber mat for the cargo area, and would just throw all my tools in there. It still looks brand new. I put my 9'6" longboard on the top and take it to the beach. I use it for everything. It's never let me down.
I think that they are the best deal on the roads here for a luxury SUV. 20 mpg, good price, comfortable, versatile, reliable.
The MDX is also a great car I think. My only problems with them were that they cost a little more, you couldn't get them in 2wd in '01, and they wont fit in my garage.
BTW, I dont think that a RAV4 even comes close to an RX. If looking at a toyota, look at the Highlander. Those are also a good deal.