One problem related to driveshaft has been reported for the 1999 Lexus RX300. The most recently reported issues are listed below.
There is a shudder of the transmission when shifting from first to second gear at approximately 2000 rpm's. The vehicle is equipped with all-wheel drive. I bought it with 65,570 mi. The dealer replaced drive shaft to rear wheels and front axle(s). The problem remains and is a nuisance regardless of vehicle temperature.