....If your on the trails, I find the best practice is check it just after you fill up with gas at a gas station (still hot from the trail).
You don't have to add any oil until the light comes on. The light comes on when it's 1L down. I have over 15,000 miles on 2 RX1's and never had a problem and this info is from my dealer.
It is a dry-sump oil system. You don't have to worry about waiting for the oil in the engine to drain back into the tank to check the fluid level. The engine should be at normal running temp. Also you DO NOT screw in the dipstick to check the level, you just put it in so it rest on the neck.
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