It normally makes sense if the pump has to be removed. However, in some of the newer vehicles, this is not necessary. If you ask the service advisor how often he sees failed water pumps being replaced and he tells you "never", you have your answer as to whether you should have yours changed. Since the RX330 has the same engine and considering that RX has been around longer than the RX400h, Lexus service advisors should know whether the pumps can last much longer than 90,000 miles.
My son's Honda Civic has over 130,000 miles and is still on the original water pump.