Well true about Lexus trying to sell anything that they can make their buck on. Lexus 5 years rust through warranty is just the industry standard. Imagine, within 5 years you have a rust perforation (as in the rust has made a hole) warranty. If this happens in five years, you just might as well throw the car away.
As I have seen personally, we are just a scrape away from rust. Check all cars that have had a recent scrape or joints not properly treated, tail light areas on the trunk etc. One scrape and the protective paint or priming is out and bare metal is exposed. You will only need two seasons of snow, ice and warm temperature combo to get major rust (and I suspect if this happens in 5 years warranty time, even Lexus will back out, as it is user's fault). This is made much worse with the salt exposure. So, unless right after a scrape, one treats the exposed area properly and coats the area with primer and paint, rust is waiting to happen. The annual rust protection application, I am told, takes care of those wearable and scrape-able parts, more so on the underbody, as it is not usually visible.
I have a thirteen year old car with me for the last thirteen years. And any paint chips on the body has been taken care of meticulously. Did not apply any rust protection. I am getting rusts on the inside of door joints, and the underbody that got scraped one time (or it may have been an inattentive mechanic in the car's earlier years, who knows), the car got its floor perforated from rust in a localized area, that I just noticed a few months ago. The remedy? Cut the metal, rivet a new metal underneath and another one from inside the car, and then apply rust protection. But the damage has been already done and this is just going to slow down for a bit. The car otherwise mechanically runs almost like new, without any exaggeration. I am almost certain no new invention or engineering has happened within these years to make vehicles completely rust proof.