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asecertifiedtoyotech is offline, I can assist you here.
There are a few things that can cause this on your car.
First you need to check and be sure that the caster adjusters are TIGHT on the car. It is VERY comon for the rubber bushings that hold the caster arms to the car to wear out. Typically the caster control arms need to be replaced about every 80,000 miles on these cars. Once the bushing collapses and tears it allows the front tires to move back and forth resulting in noise and abnormal tire wear.
If you drive the car at 5mph and slam on the brakes you will probably hear a "pop" noise in the front as the arms slap around.
Former Lexus Master technician
Master Certified with lexus, 6 years experience