One problem related to clutch pedal/linkage has been reported for the 2004 Lexus RX330. The most recently reported issues are listed below.
My Rx330 has just come out of the dealer service for the second time due to a complete failure to downshift when necessary. Especially as I slow down to about 20 mph, and the try to re-accelerate, the rpm's go to 5500 but the vehicle does not move and the clutch never engages. You have to let off the gas pedal and let the rpm's come back down and try it again. This has almost got me hit by another vehicle at least 3 times. On the first service call they tried to do a transmission "reset" I have driven the vehicle 2500 miles since then and it might even be worse. This time it went to the shop and two technicians, one manager, and one customer service rep all told me that they have been able to simulate the problem on test drives but that it is "normal for this vehicle", however, they are still going to report it to the manufacturer. My response is that this may be "normal" for this vehicle, but it is not normal for "a" vehicle. They all agreed but said that Lexus does not have a fix. This is currently elevated to the Lexus company customer service and they said they would get back to me. Until then I am stuck in a dangerous vehicle.