The first of the Lexus RX generations (XU10) was launched at about the same time as the original BMW X5 in 1998. Over many model years, every generation of the Lexus RX retained an elegantly understated style and a compact two-row form that hasn’t changed too much in size. Nowadays, that puts it between the upper end of the compact class and the lower end of the mid-size class, as rivals have outgrown it.
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