Honda engines are interference engines which means that valve damage will occur if the belt has broken or the correct procedure is not followed during belt replacement.
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The 2002 lexus es 300 has the 3.0L engine, which is non-interference. The later lexus es 330 has the 3.3L engine, which is an interference engine. The even later es350 has the 3.5 engine and is back to non-interference as well as having a timing chain rather than a belt. Hope this helps.
I am not sure about the engineer, but it should be a non interference engine. Unless it is a double over head cam, if it is the standard single cam engine it is non interference.
Compare your rear knuckles to a non 4WS. You have to remove the steering extension shaft leading back there as well as the rear tie rods. The rear knuckles have to be locked so they don't steer. Might need to swap some of the components from a junkyard 88 89 90 91 Prelude.
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