I am having the same problem. MP3 titles work fine, CDs not so much.....09 RX350.
Same problem with my 08 RX 350.. Noticed it right away when I loaded my first CDs, a mix of store bought and home burned.. I don't know if there is a 'fix' for it, and I've just accepted it as the way it is.. Maybe we'll both get a solution or definitive answer here..