This is a problem that many second generation RX owners have encountered. When the indicator is turned on, the pneumosuspension is stopped and dies in one of the positions and the position of the rear axle may be different from that of the front axle.
If the battery is down by 10 to 20 minutes, it is most likely that a wire is cut off from the compressors. This wire controls the pressure relief valve.
The manufacturer is allowed to drive in such a position, but it recommends that you be careful. Remount of the wire. It would be desirable to have a longer problem so that the problem does not recur.
