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Looks like the rear diff? That thing is rusted beyond belief, but if it's leaking from the bolt you could reorder the bolt on discountpartsmonster or prestige lexus. Definitely will need to clean the threads with a wire brush. If the threads are ruined you'll need to re-tap it.
Is it leaking from the gasket on the side as well? Clean it off with a rag and drive for a couple minutes so you can see for sure where it's coming from.
Yeah you just undo the fill plug on the side and then the drain plug on the bottom. You're going to need a 10mm hex bit socket for the plugs and a pipe for extra torque on the ratchet, since it's very rusty. Make sure you undo the fill plug first so you're not screwed.
Rear diff takes 1.42qt of 75W-85 GL5 gear oil. 75W-90 works fine too.
Heres what you need, besides a fluid pump from auto parts store.. skur gave good instructions, I can only add that you could spray the plugs with PB blaster before you start, make it easier.
For a 07 GS350 AWD (double check with your model before buying)
Fill Plug: 90341-18035
Drain Plug: 90341-18032
2x Gaskets: 12157-10010
You can find any part # on parts.lexus.com and put in your VIN. After you find the part, under diagrams it shows the exploded part numbers for everything. I order from discountpartsmonster, mylparts with code CL5, or a local dealership since they usually offer free shipping.