2GR-FE from 2009 will need the oil cooler pipe done, if present. (Cooler was a part of the tow prep package. My gut is that most RX got it.) $85 in parts from your dealer. Do it before it lets go and wastes the motor. I did our 2009 Venza a few months ago. The Venza is more challenging than the RX. Just replace the two studs on the oil housing connections with bolts. (M6?)
Keep an eye on the front timing cover oil leak. Wipe things up, but don't feel like you need to fix it.
Keep an eye out for water pump leaks. It'll be dried up pink crust coolant residue down the front cover.
Do replace the hatch lift struts if the hatch is not neutrally buoyant. On these, the struts will fade which over-works that lift motor. Then the motor burns up. Much more expensive than struts.
2009 is going to be the 5 speed transaxle. Trans fluid. Brake fluid. Power steering fluid. Coolant drain and fill (drain the block using the rear block petcock as well as the radiator.) Belt? Wipers? Rear transaxle if AWD? Enjoy the fifteen year old new car. Nice find. Call me if you want to sell.
EDIT - protect the dash from the sun. They tend to crack, a real eyesore on an otherwise nice vehicle.