Only body color changes were made for the 2000 RX 300 by Lexus. Desert Bronze Metallic was discontinued, replaced by Mineral Green Opalescent. A slew of new features were unveiled for the 2001 model year. They included the addition of BrakeAssist, Vehicle Skid Control (VSC) and a veritable traction control system. In addition, the grille, lights and door accents were revised. A matching and full-sized spare tire was added, and the fuel tank was increased to house 19.8 gallons. Added options included things like upgraded navigation system (DVD-based), bumper protectors, wood trim on the interior and prewired towing configurations (for all-wheel-drive models). No major changes, save for the optional Nakamichi audio system, were made to the 2002 and 2003 model years.