My wife has a 2007 Lexus ES-350, and I own a 2014 Toyota Highlander. Both have the 3.5L V6. The Lexus recommended oil is 5W-30 (regular dino oil). Highlander is 0W-20 synthetic (only comes in synthetic).
Lexus NOW recommends 0W-20 for the 07 Lexus.
For over a year now I’ve been using 0W-30 in both vehicles. No issues what-so-ever.