4.7 L V8
I have a 1999 LX470 with the 4.7 L V8. I think it is the same engine as is now available on the T4R V8. The big expense comes around 100K miles. The timing belt and plugs have be changed.
The great unknown and unanticipated expense is that the Water Pump will also have to be changed at the same time. Word is that once you change the timing belt, the water pump bearing can't handle the tighter tolerance, so, you usually have to change it out within 10K miles. Its easier (cheaper) to go ahead and change the water pump at the same time as the timing belt. Therefore, avoiding the double technician cost to remove...
Cost is over $1000 for the entire service on the Lexus (not at a dealer).
Don't know about the V6, but, the V8 is a solid engine.