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For all model years, the Lexus RX350 advises using DOT 3 brake fluid, although it can also work with DOT 4. Both are suitable for the same purposes, with the main differences being their boiling points and costs. The higher boiling point of DOT 4 isn't particularly beneficial for the RX350, as you’re unlikely to need it. Therefore, while using the "premium" DOT 4 fluid won't harm your vehicle, it also won't provide any noticeable advantages. Mixing the two types of brake fluid is not recommended, so it's best to stick with DOT 3. However, if you prefer using DOT 4, you can entirely flush out the DOT 3 and replace it; it will function just as effectively.
In the United States, the appropriate brake fluid for a Lexus RX350 is DOT 4.