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You will have to change that left bulb as it is a double filament bulb. You will be shocked at the price. This happened to me with a 02 rx 300 last month. The dealer wanted $475 for a new bulb. Yes that is the correct price. I didn't take it. I went to NAPA and purchased an after marked bulb. BUT it was still $99. J.
After removing the top and side bolts (which are obvious) Go to the fender liner. Remove all but the top screw . You will find (by flashlight or shop light) two bolts coming out of the headlight rear. With a socket wrench and 10mm socket, remove the two nuts on the headlight and pull out the headlight from the front after insuring the bulbs are removed and identified for reinstall. Take your time. It is not difficult.