This is for 07 RX350 with 6.1 see if it works for you:
TRY THIS AT YOUR OWN RISK.... I am not responsible if something goes wrong. It is better to take it to the dealer
(a) Method 1
(1) Start the engine.
(2) While pressing and holding the "INFO" switch, operate the light control switch: OFF ? Turn ON ? Turn OFF ? Turn ON ? Turn OFF ? Turn ON ? Turn OFF.
(3) The diagnostic mode starts and the "System Check Mode" screen will be displayed. Service inspection starts automatically and the result will be displayed.
(B) Method 2
(1) Start the engine.
(2) Switch to the "Display Check" screen.
(3) From the display quality adjustment screen, touch the corners of the screen in the following order: upper left ? lower left ? upper left ? lower left ? upper left ? lower left.
(4) The diagnostic mode starts and the "System Check Mode" screen will be displayed. Service inspection starts automatically and the result will be displayed.