Tried a few more on the weekend, a 2012 Rav4 Limited with the V6 and 85000 km, a 2014 Venza V6 Limited with 24,000 km, and another RX.
The lowest mileage last gen Rav4 V6 we could find, was sort of hoping it might do the job for a while. But while it was quick and had refreshingly good visibility, seats were hard, it rode like a gravel truck and smelled horrible. Think the detailing crew may have not been totally up to that job. Not that cheap either, probably because the v6 Rav's are getting scarce.
The Venza, on the other hand, could have been a new car. And despite the big 20 inch wheels it rode way better than the Rav. Not quite as quick, but still a smooth solid surge of power from the V6, much like an RX. Overall it did feel very RX like in how it drove, although somewhat bigger feeling, mostly I think due to the shorter height. Interior not Lexus level either, although very nice otherwise, other than the nav screen, which was poorly angled and hard to read.
The RX was a nice example. It did have the park assist we wanted, tested it with the wife and it looked like it would be helpful. Did put in an offer that was not taken.