The fourth-generation Lexus RX crossover (chassis code AL20) premiered at the New York International Auto Show in April 2015 for the 2016 model year. Styled with sharp body creases, a massive spindle grille, and a distinctive floating C-pillar roof effect. In 2017, Lexus introduced the 3-row RX L (RX 350L / RX 450hL) lengthened by 4.3 inches to accommodate up to seven passengers. Cabin features included an available 12.3-inch screen and Lexus Safety System+.

Powertrains ranged from a 2.0-liter turbo four-cylinder on RX 200t/RX 300 (235 hp), a 3.5-liter V6 on RX 350 (295 hp) with an eight-speed automatic, to the RX 450h hybrid delivering 308 horsepower. A 2019 refresh stiffened the chassis, revised shock absorbers, added touchscreen capability with Apple CarPlay/Android Auto integration, and debuted BladeScan Adaptive High-beam System (AHS) headlights.