I tested the brake fluid and coolant using those test strips. Both tested good.Wow! I would service all the fluids, pull a plug, etc. Maybe start with a fresh set of Michelins, if it's in the budget. Of course inspect everything.
Spend a few hours on the paint and headlights. Lexus paint in those years was German quality!
Going forward, I would stiffen it up with some Bilsteins...
You will flat out love that RX. It will spoil you.
Like I said, the brake fluid reservoir is one of the cleanest I’ve ever seen on an old car. Prior owner did a good job.
I am amazed at the paint. 20 years old and no clear coat chalking.