i just bought an 02 gs300 with 137k. the car has no mods its all stock. struts look original. when braking accelerating and going over bumps the suspension sounds like your walking on an old hardwood floor. it sounds like i hear it from the front and back of the vehicle.

 

check ball joints

 

This is probably the issue in the rear

https://www.clublexus.com/forums/sus...placement.html