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Your 2015 Lexus RX350 comes equipped with factory-recommended 0W-20 synthetic motor oil, but it's okay to use 5W-20 if necessary. You can add up to 6.4 quarts of oil, which includes the new filter. When tightening the oil drain plug, do not exceed 30 pounds per feet of torque. For a premium brand like Amsoil's Signature Series 0W-20, expect to pay around $13 per quart (part number ASMQT-EA). It is advisable to stick to the recommended synthetic oil, allowing you to extend the time between oil changes to anywhere from 7,000 to 10,000 miles. If you opt for conventional oil (not recommended), plan to change the oil every 3,000 miles or so.
In 2015, the recommended oil for the Lexus RX 350 engine is SAE 0W-20 fully synthetic motor oil.