Thanks for using Just Answer for your needs. There isn't a specific procedure in the Lexus Repair manual for this but this video of an Xenon conversion may help you in seeing what steps are involved in accessing the headlight bulbs....
this does not explaing the replacement of a bulb. It explains the installation of new type HID light. This is of no use
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Hi! New Tech here....
Hope this help!
NOTE: After the headlight gasket is removed, be sure to replace it with a new one. Failure to do this may cause water ingress.
NOTE: After the discharge headlight bulb is replaced, make sure that it comes on. Then, reinstall all the parts that were removed to replace the bulb.