Hello all,
My wife's 2008 RX350 with 18" wheels exhibited the same problem on the original Goodyears...inner tire wear, weird cupping. They were replaced at 28k miles with Kumho Road Venture APT KL51 and a four wheel alignment was performed. I have since adjusted tire pressure to 36psi with no major ride deterioration. After 7k miles and one rotation, the tires are wearing beautifully and am really impressed with the Kumhos. I have Kumhos on my LS and those have been solid as well.
On a related note, we previously had a Highlander (similar underpinnings) that went through the original Toyo tires in about 30k miles, with the same strange wear patterns.
Both vehicles for the record were diligently maintained in terms of inflation and rotation.
Jeff