Sold my 04 a year ago for about 15k it had every option you could get Nav, RSES, etc. I sold it under private party because it was a family member that bought it. I had around 80k on it. With only 35k on it I may pay a little more but certainly not 24k...
On a side note...I loved that 04 rx330...great Lexus...and it has well over 130k on it now and is still trouble free.
Good luck with it.