Lexus introduced the GX 470 at the North American International Auto Show in January 2002 as a 2003 model, with sales commencing in November 2002. The GX development program began in 1999 following the J120 Toyota Land Cruiser Prado in 1997, with design work by Shoichi Fujiyoshi concluding in the first half of 2000.
The suspension shared its layout with the Toyota 4Runner equipped with the rear air suspension, while adding Adaptive Variable Suspension (AVS) and Downhill Assist Control (DAC). AVS could adjust damper firmness continuously while DAC modulated descents down slopes. Power came from a 4.7-liter, 32-valve, four-cam 2UZ-FE V8 engine originally rated at 175 kW (235 hp) at 4,800 rpm and 434 N⋅m (320 lb⋅ft) of torque at 3,400 rpm. Towing capacity was rated at 2,300 kg (5,000 lb) for the 2003 model year.
Midway through the 2004 model year, the GX received an upgraded towing capacity of 2,900 kg (6,500 lb) with the addition of a much stronger frame-bolted tubular hitch. Ground clearance measured 211 millimetres (8.3 in), with an approach angle of 30° and a departure angle of 29° raised (25° normal).
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