Hi,
The michelin tires on my 2009 RX 350 also got worn out @ 24k miles. I am planning to go with "Bridgestone Dueler H/L Alenza" as it has some good reviews.
I am going to buy it from discount tire this weekend. BTW, you get $100 AMEX card from Bridgestone if you buy same set of 4 tires.