RX300's had transmissions that were known to be less robust or reliable than the standards and expectations of the buyers. Me for one. Lexus put in a brand new factory updated unit on mine, and I'm really happy with it all. Many others had theirs replaced long before 153,000 miles, so you got more use than most. Many had them replaced under the long original powertrain warrantee when any abnormal issues came up. That's what happened with me.
These units were prone to failures partly due to a light-duty design, lack of specific servicing of the transmission and transmission filter (you mentioned engine service but not service that applied to the transmission) and specifically transmission service was often overlooked from many following the manual or dealer recommendations. Also, many were prone to failure from service with the wrong (other than Type IV) fluid, extended idling or stop-n-go, short trips, or other severe service, but were low-mileage cars that were out of time on their warrantee. The most common failures were when improper shifting occured as a result of the ways they were designed. Is it normal for any transmission to go by 153,000 miles? Sure, but there are always some more than others that wear in a certain way.
I understand that it's expensive, and the cost of the repair seems to be linked to the perceived value of the repaired car. Supply and demand, I guess. Is your car otherwise reliable and in good shape, without any other issues? Sometimes you can shop around for a better price. If you have a relationship with Lexus, sometimes they will pay for part as goodwill. Prices being near equal, I would prefer the part and work done by Lexus for this repair. A rebuilt unit from Lexus is more likely to be of a more modern design than a rebuilt unit from a third party.
Check out the Edmunds forums like: http://townhall-talk.edmunds.com/WebX/.f111d9c/157
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