Lexus' doors take a bit of getting used to. Nx being one of the most complicated until you get used to it but never your new passengers. Rest assured, I was told, that in an accident, all the doors' safety features disengage, so you can exit freely. I hope and pray never to experience that though.
Nonetheless, my missus picked me up at the train station with her 24 Lexus UX. Well, I could not get into the car for awhile while she fiddled with the lot.
I think Self Parking is on Takumi spec and certainly not on Premium Plus but not sure whether it is activated for UK customers. Those who own NX Takumi would know.