Hi,
IMHO, if you follow the adjustment instructions in the manual and set the headlights just a little higher (but of course not so high that they bother oncoming traffic unduly), the low beam headlights in the RX are quite good, although there are better systems around. It's really child's play to set the headlichts correctly, as all you need is a piece of level ground, a wall, and a screwdriver.
We often drive long (400 mi.) distances at night and at "European" speeds (up to 85 mph) and under these circumstances the conventional high beams are definitely underwhelming, especially coming from a vehicle with Bi-Xenon headlights. A very quick, easy, and not too expensive remedy for this exists on Ebay: Retrofit Xenon bulbs for the high beam lights. I know there might be some problems in this respect with your US DRL system, but it seems it can be disabled. The bulbs cost slightly more than 100 USD, are well made, fitting is a matter of a good half hour (100% Plug-and-Play), and the result is absolutely amazing.
There is a pictorial description of the operation here on the German LOC forum. Babelfishing should take care of most of the linguistic problems
European Lexi do not have DRL's - and I wanted them on mine. In the end I succeeded, and am quite happy with the result.