The only significant difference between the 200 LC and GX 460, IMO, is size. If you plan on using the 3rd row for anything other than children under 5'8" or cargo (not both) you should go with the 200. I just put the seats up for my fiance to haul some kids around - It would be miserable if someone my sized (6'3" / 205) to sit back there for any extended period of time. If both trucks are equipped the same (crawl mode and cameras) they will go where ever you want to take it.
Another , less expensive option, is the new 4runner. The GX and 4runner are built on the same platform but the difference being v8 (gx) to v6 (4R). The 4runner has tons of aftermarket off road equipment but the gx has basically none. Granted, the front bumpers on 4runners will fit on a GX, but you'll have to do some creative trimming where the 4R has directions on where to cut.
Personally, I love our GX. It rides nice, the seats are the most comfortable I've ever sat in and there is plenty of power. Recently, I went in for an oil change and wanted to check on a few things, my iphone would intermittently stop playing when hooked up to the stereo and I had some squeaky brakes that another dealership couldn't hear. I was expecting a bill for the brakes and oil, but since the last dealership couldn't hear the brakes and this new one did - they comped the brake job and chalked it up to customer service. I was floored. On top of this, they couldn't get the iphone to do what I was claiming, but they went ahead and ordered a new ECU and installed it - for free. Moral of the story here - Lexus is about a different kind of car buying / owning experience. I will definitely own another CPO Lexus, probably never a new one though.