Yes, the TX has three rows of seats and carries up to seven.
The TX 350 uses a conventional gasoline engine, while the TX 500h uses a hybrid drivetrain.
The two are mechanically very similar, and the TX is actually the replacement for the discontinued RX-L. But the TX is the bigger of the two and features a third row of seats, which the RX does not.
Front-wheel drive comes standard on the TX, but AWD is either standard or available on every trim.
The plug-in hybrid version of the TX has been discontinued, but a conventional hybrid drivetrain is available in the TX 500h.