Welcome to the site. You will need to keep up with maintenance on this vehicle because, like all SUV's, they move a lot of weight and most run AWD which puts more strain on the transmission and engine. I only use Toyota type T-IV ATF every 15k and I use the Walmart full synthetic 5W-30 engine oil with a Fram Extraguard filter every 5k. Also, replace your antifreeze every 24 months with only Toyota " Red " antifreeze, you're engine will thank you for it by not corroding inside. If you drive the vehicle in a decent manner and do not overload it all the time you will be rewarded with a long and happy life. I have a 2002 RX300 AWD with 128k and I just do the basic maintance, I have only had to replace the O2 sensors so far, I will replace the timing belt this spring. Also, replace the spark plugs at 100k with the recommended Iridium plugs from Denso and while you are at it clean the throttle body and the Idle Air Control valve. I got the instructions with pictures on this website. Good luck. By the way, if the washer light does not go out you may have to replace the sensor but it may have been dry for awhile so keep it full and see what happens.
