Either will excel at that. The RX, with the bigger power unit may be more relaxing to drive but the down side would be fewer miles per gallon.
The RX will also be able to carry more luggage, depending on how many passengers there may be.
My personal choice from the two models would be the RX but clearly I have chosen the RC300 as this best suits my requirements.
As in any decision on car purchasing, test drive, test drive again and test drive as long as the vendor will allow.