Never really worked with lexus, but most vehicles do not have a transmission fluid drain plug, you need to remove the drain pain of the transmission, the transmision will be behind the engine under the car and there should be 15-20 bolts most likely 10 ml bolts becarefull taking them off, and start at one corner and work around till most of the fluid is drained get a new gasket and filter before you try this i would recomend getting a hayns or chitlon manual for your car from your local auto parts store so you have pics to help you
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