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Just to update. I talked to a different Lexus Tech. This time factory direct. He said that German made AWD drive cars are notorious for the problems the tire shop described. But, that Lexus vehicles are not that sensitive and while I may experience a slight pull until the new tire wears down a bit, I am perfectly safe replacing only one.
Absolutely correct - assuming only the new tire wears and the other three don't wear. If the other tires wear, then that one tire will ALWAYS have more tread.