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To activate the heated steering wheel in the Lexus RX350, find the controls on the driver's information display panel to the left of the steering wheel. There are two rows of buttons on the panel. On the second row, the first button features a steering wheel icon with heat waves. Press this button to turn on the heat. To turn it off, press the same button again and the wheel will gradually cool down. The heat is on when the button's symbol is lit up in amber, and off when it's not illuminated. The RX350 also has heated front seats.
To activate the heated steering wheel in the 2019 RX 350, simply push the button on the steering column to turn it on.
I'm really bummed out that I can't use the heated steering wheel when I remote start my car. The Nissan Murano allows for that feature.