Design-wise, Lexus makes the best interiors, IMO. Mercedes is really not bad but a bit too classic for my taste, BMW is simply trying too hard, and Audi is doing too little. But where Lexus is still slightly lacking, is where other are catching up, the execution of Porsche. The RX still has a bit too much plastic for being a luxury SUV.
On another not, I see the RX uses the curved surface on the console, that we have seen with the LF-LC. I expect to see something even more pronounced with the LC and probably LS.
Also, and this is quite an exception, on this RX I prefer the standard grill over the F-sport grill. I think that is because the "lames" of the standard grill give it more sharpness and a 3Dimentional view.
Over, the RX design is my favorite execution at Lexus, and probably my favorite in the automotive industry. I like the sharpness, its perfectly executed wedged shape, so as the high belt line. Unfortunately it suffers from FWD proportion, the perfect design can compensate quite well.
Hopefully the LC and LS will make this perfect with their RWD proportions.