According to my research it looks like your 1999 Lexus RX 300 can tow up to 3,500 lbs but you'll want to verify this with your copy of the owner's manual.
If you don't already have the parts needed for towing I recommend picking up the Curt Trailer Hitch # C13429 as well as the Hopkins Active Tail Light Converter with Install Kit # 46255 for wiring. Then for a ball mount kit you can use the etrailer Ball Mount Kit # EBMK4.
Attached are some videos for you to check out. view full answer...
I'd be happy to help you with that. Beginning with the brake controller I'd recommend going with a proportional controller like the Tekonsha Primus, part # TK90160. A proportional controller can sense how quickly the tow vehicle is braking, and will send the correct amount of voltage to the trailer brakes so the vehicle and trailer stop at the same rate. Time delayed controllers will always send the same amount of voltage to the trailer brakes (according to how you've adjusted it) whether... view full answer...
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