Good stuff! Good question about the H&R models, I believe 29357-1 is for the 1st gen 1999-2003 RX and 29357-2 is for the 2004-2009 2nd gen RX. Both will fit on, but I bet the "2" model is stiffer due to the increased weight of the 2nd gen RX from the 1st. 52486 seems to be either a replacement or updated part number for 29357-2, it seems to be the only one that shows up on H&R's website oddly enough. Speaking of Eibach springs, I have seen one Highlander owner here and some RX owners on ClubLexus try the Eibach springs with success.
The H&R apparently provide a slightly harsher ride, a bigger drop and stiffer handling, compared to the Eibach's more forgiving approach from what I've heard. I'm sure either kit would be a fantastic choice on our cars as anything would be an upgrade from our squishy stock springs that are especially soft in the rear, leading to some annoying understeer as we all know of! H&R did a fine job at balancing it out without giving an overly harsh ride! Have had the springs for over 2 years, and have been riding on my current setup for around 4 months now. It performs great in all seasons and handles the highway with loads of confidence as well.
Even though I love the way the springs changed the handling, the best overall change was definitely from the sway bars. Springs helped with the braking, floaty feel (completely absent now) and whatnot. However, the heavy hitters were definitely the larger rear sway bar, followed by the front. I think you might be able to skip the front if your rear bar isn't too big. When I went from my stock 16mm bar to the 22.2mm Addco on the rear, my front was 23mm and the rear really was robbing traction and had a mind of its own, especially after the H&R springs. It would want to lift a rear wheel up in sharp, sweeping corners and that would actually cause me some squealling and understeer which was very annoying.
The 26mm up front really helped balance out the suspension and got rid of the squishy and loose feeling at the front. It surprisingly didn't induce more understeer which was nice! The whole car corners flatter and could hold its own a lot more confidently. I still have it set up to have a larger rear bias than stock too, so it doesn't want to plow through corners like stock (23/16 F & R vs 26/22.2 F & R). I bet you'll be able to pass on the front if you get a 19mm rear, as you'll have around the same difference between F&R that I would have which is around 4mm.