Congrats, I had done a very similar deal in the beginning of November.
My Msrp was slightly higher at $58.2k
Monthly payment $509 + tx (9.5% tax rate)
Incentive same as yours
Drive off amount: $4025(true zero DAS just MSD due)
I got the dealer to include all scheduled service on top and valet service too(they will bring a loaner pickup/dropoff the car for all service)
For my case yes, the car is for my grandma who is in her 70s and does 100% city driving. And she came from a 2018 RX350 after having a hybrid as a loaner she really appreciated the extra low end power and how much more quite it is compare to the 350.
Plus the hybrid came with a higher RV than the regular V6, and the MSD makes it basically interest free.