I have 99 RX300 2WD and average 22 (30% city, 70% highway @ 65-70) using Shell Premium. With the roof rack off, the number can go up to 23mpg (usually 22.5). Of course AWDs consume more gas.
I can tell the car pulls a little stronger (with less hesitation) when I use premium gas. I think it's worth paying extra $3 every fill-up.
The RX300 is a heavy and slow car, it takes longer to get from 0 to 30mph (e.g. city driving). So even though you think you have a light foot, you may not. To maximize the mpg with the RX, you'll have to "learn" how to drive the car using its existing momentum. I learned this habit by turning the trip info to current mpg and trying to adjust my foot so that the mpg is maximized.
I am a 22 year old male. When I drive this car, I am a totally different driver. And when I drive my Accord, I am back to "fun" mode. I'd love to own a RX350 though! That engine owns!