At about 123k miles, transmission just died. Took it to a shop, and determined the planetary gear in transmission had failed (chronic problem, not recognized by the dealer as a defect and not recalled). After fighting with the dealer and the manufacturer, had to pay 3200 to have transmission replaced.
Now knock sensors are setting off the CEL, and sending codes that knock sensors are bad. Repair did not cover it, and now cannot drive due to lack of overdrive, which if driven with bad knock sensors is the result - bad part is the technician, who is very knowledgeable, said if driven with bad sensors, it will prevent the vehicle from going into OD, and eventually cause the same transmission failure and necessitate replacement again. Sensors seem to be around $750 for both, but am thinking about it for now.
Can't drive the SUV after investing over $3000 - can you imagine how I feel?
Own 2 newer models of RX and have never had a problem - seems to be in the 1999 and was redesigned by the manufacturer in 2000, but not covered for previous owners as a defect!