My 2001 LS430 UL brand new had a nav system that was mediocre at best. This unit brought an old car's electronics to current technology. It is basically a full android tablet with HD screen that can use any android app without restriction. Steering wheel controls and AC controls work and can be set to not boot up at turn on. It has bluetooth wireless carplay and android auto if want but with using the installed map app I never use it. It also has usb inputs and a cellular modem if I wanted a dedicated wifi cellular connection but I use the hotspot from my phone for unit to connect. For the radio I can use original or app radio for local stations which I like better. It has a factory look and very easy to install.

 

For the facelift Mark Levinson with Navigation versions the BlueMusic module works very well and is super cheap.
https://www.musikimauto.de/search/?qs=toyota

You will need the 6+6 splitter cable
https://www.musikimauto.de/Toyota-66-Y-connector-small
and the 6+6 BlueMusic module https://www.musikimauto.de/BlueMusic...ota-Lexus-66_1
or https://www.musikimauto.de/BlueMusic...e-KitToyota-66 with handsfree phone calls.

Works really well in my 2004 and the steering wheel controls also allow next/previous track control if your music app allows that kind of control (I use Folder Player on Android).
Once installed, just press the CD button twice to get CD2 and connect your phone to the BlueMusic bluetooth.