I have a 1999 RX300 I purchased new. It currently has 71,000 miles on it. So far, the only out of pocket expenses have been regular oil changes and a new set of tires on the vehicle (at 35,000 miles), which I attribute mostly to my hard driving style. Up until recently, the car has been nearly perfect.
I just had the vehicle in to the dealer today for an oil change and check for an exhaust noise. Evidently, there is a crack in the exhaust header pipe which the dealer wants to charge $450 for. The car is out of warranty, so I am headed to a muffler shop for a fix. In addition, the dealer recommended I change out all the belts as well as the battery, adding another $600 to the bill. I will probably have the belts changed soon, but will let the battery die on it's own.
These are great cars, but I recommend you question the dealer thoroughly before paying for any work. Read the owners manual carefully and pay attention to the notes in the recommended service sections. The dealer would have you think that shelling out $500 for fluid and filter changes every 3,000 miles is a normal practice. It is not and is in fact only recommended by the manufacturer for vehicles operated under extreme driving conditions.
Good luck with your Lexus. They are really great cars well worth the expense.