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Lexus out, why? Other than if you mean the RX b/c of tow capacity.
With a 6K # boat, I'd personally insist on something that'll definitely tow it w/out any problems what so ever. Highway is one thing but hills/mtns (up or down) and boat ramps are another. Cayenne will, X5 might, 4Runner will, Explorer won't, why not the Lexus GX470? Tow capacity is 6500# w/ std hitch. Lots of power, good suspension, and all sorts of creature comforts. I have an enclosed 5x10 trailer I pull w/ my GX and honestly even when it's loaded, you can barely even tell it's there. With the back up camera & height adj rear suspension - it's about as simple as can be to hook up.
Take a look again at the GX. Yes, it's bigger than the Cayenne and X5, but definitely smaller than a Yukon, Expedition, Sequoia, etc.
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