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I stuck with Lexus Financial because I've purchased several vehicles via Toyota Financial (the same company) and I've had a great relationship with them over the years. Also I got a great deal (they reward repeat customers) so it was a win-win for me.
Finance rates are typically dictated by your credit score. I found the best rate through my credit union. I think the dealer is Toyota financial is competitive with regular banks chains, but usually you can't beat a credit union.
I went through Costco. Although a credit union is a little better, I didn't want to commit to one. The difference in monthly payment was small enough (IMO) that's why I decided to go with Costco.
Lexus Financial is general pretty competitive. Make sure you're comparing current rates to current rates rather than old accounts since interest rates are going up.