My family owns a Lexus dealership, and I'm fortunate to be able to purchase any Lexus at cost. I'm not active in the business, however.
The GX is a very substantial vehicle, however it is truck based. The RX is an auto based vehicle, and it's much better riding and customer friendly. And RX's are available in a stretch version that has 3 row seating. The RX has perhaps the most comfortable front seats of any car made.
We recently bought a 2021 Toyota Venza Hybrid AWD that is especially user friendly. It's got the fit and finish more like a Lexus than a Toyota. I'm getting 42 mpg, and find it to be a great road vehicle for up to 4 people. Best thing is I could buy two of them for the price of one GX that does good to get 20 mpg.
Lexus is finally upgrading the NX mid size SUV with the same 2.5 liter hybrid system used in my Venza, the Highlander and the very popular RAV-4. It would be very desirable if the size works for you.