Hey can anyone give me an answer on how to remove the panel to get to the 3rd brake light without breaking it? I looked at it but have no idea how it is connected. Thanks in advance for the help.

Are you talking 99-03 RX300? That middle section is held in by push retainers. It just pulling them straight out. Pull the sides off first, working your way to the center. Installation is just align the retainers and push hard (or bang with fist).