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They are on each bank in the exhaust manifold BEFORE the catalytic converter. Sometimes mistakenly called an o2 sensor, can also be called a Heated Oxygen sensor.
Buy the original OEM Denso sensors.
https://www.google.com/search?q=2005+Lexus+RX+330+air+fuel+sensor+location
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i would suggest removing the rear seat and then you may be able to pinpoint the noise easier, even though the noise may appear to come from the interior it may be outside and the noise transfered through various body mountings , these type of things can be very time consuming to locate and patience and logical thinking will get you to the answer. this link might provide you with some help
Rattle Noise Inside Panel Rear Hatch Door 10 RX 350 Club Lexus Forums
Try removing both battery terminals and putting them together for about 30 min to reset all modules with key In ignition when cables are being reconnected to battery.
Try to look for any electrical fuse problem in your car... from there you can do a visual check in all of your fuse... if it is busted get some expert to help you out... remmember don't do anything if you are not sure about it
If equipped with cambelt check to see if it has snapped. If it is cambelt new valves would be needed head gasket and head bolts then somebody to replace them for you
if it does not turn over on the starter. check the wires on the solenoid on top of the starter .may need cleaned .remove and clean them .but remove one of the battery leads first .do not do that if the radio has a code and you do not know it.
You can find it your self,get water hose and water down then open to see where water is coming in,maybe use plastic to cover a section at a time,your lights have a rubber seal and the lid does too.