If it really had 40k on it it should be an ok bet, and it has fresh fluid in it. Add some lubegard red, and drain/fill the pan every 25k. I have an es with the 151e and that is the right pattern for it, and it is running perfectly at 300k now. I have found genuine 3309/T-IV fluid works beter in these than multi-spec fluids.
Check at clublexus in the RX subforum about ins and outs of that tranny in the awd config. I am most familiar with the sedan applications. TN in highlander subforum should also have a wealth of information, though configuration is not the same with the RX necessarily year to year, the Highlander lags.
The oil filter location on the MZ-fe is so stupid. It bakes filters. Get a Fram ultra, run it two OCIs. The adbv in it will stand up to the heat. I have run one as long as 16k with no draining down at night. The current one on there is over 10k and Doing fine.