Lexus Troubleshooting Questions? Ask a Lexus Expert
Rear axle wouldn't have anything to do with this. Are you looking for suggestions on the possible problem? If we really want to narrow down the cause you are going to need to have the check engine light read for codes( most parts auto stores will do this for free and give you a print out of the codes) , once we have the codes, I can give you a more definitive answer as there are a few common issues with this car that can cause the symptoms you described.
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