Two problems related to manifold/header/muffler/tail pipe have been reported for the 1999 Lexus RX300. The most recently reported issues are listed below.
Exhaust manifold crack.
I own a 1999 Lexus Rx300 and have had an engine sludge problem which was repaired by the dealer with the valve seal replacement being performed. Also had front exhaust manifold and front down pipe failure(crack) occurring at about 71,000 miles. Unsure as to any relationship between the two.