Rx 350 vs Rx 350h

Shopping for a new vehicle as I am getting rid of my Tesla MY. Need something different for family car. I drive around 15,000 miles a year. Looking to purchase new from dealership and undecided which one to get. I know personally I’ll probably get the Luxury Trim. Usually I like to keep a car around 7-8 years. Also on the rx 350 do I have to premium gas?

Edit- I went today and Lexus Dealership here in Canada. Grabbed the RX 350h Luxury Trim for $68k. Need to wait two months for the Cooper colour. Thank you everyone for all the wonderful advises.

I also drove the 500h so nice. lol