I checked with Sportrack and the correct semi-custom roof rack you'd need for your 1996 Lexus ES 300 is the part # SR1008 that you mentioned. view full answer...
The Draw-Tite Max-Frame Trailer Hitch, Item # 75956, is not a confirmed fit for your vehicle. It is designed more for vehicles like the Lexus NX200. A hitch that is a confirmed fit and that I recommend is The Draw-Tite Trailer Hitch, Item # 36336. This Class II-1-1/4 inch hitch is perfect for light-duty towing. It has a maximum towing weight capacity of 3,500-lbs and a maximum tongue weight capacity of 300-lbs. I have attached a video showing it being installed on a 2005 Lexus ES 330.
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