Looks great to me.
Toyota/Lexus did look at other manufacturers. They barely sold anything in the UK when they were trying to compete and essentially made what functional yet boring cars, similiar to the Germans and JLR group. They were known for making reliable, boring vehicles suitable for 50+ drivers.
Then 2012 happened and they decided to go their own way, do their own things and the sales have gone up indicating that the public likes cutting edge design in addition to Luxury. Luxury is a given in any of the premium vehicles you mentioned (ML, Range Rover....maybe not Kia though). Cutting edge design which is new and refreshing is not.
Not everyone wants to be part of the herd and buy an RR or a Merc ML and for one old customer they lose, they probably gain 2-3 new ones.
I mean I owned a 2nd gen RX300, essentially the same car you have but without the hybrid system. It was smooth, refined and luxurious, but it certainly didn't make me turn around to look at it when walking away.
Having said that, the 2nd gen RX looked pretty fresh when it came out - was extremely curvy and had a "coke bottle" shape which some simply hated.