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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.