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No. The only thing you need to worry about is an update to the maps if they are too old. Having said that... this is unless you want real-time traffic info or weather. That requires a subscription to Lexus Enform. That isn't the same thing as a satellite radio subscription.
Only if you want NAV traffic updates on the 2007 - 2012 MY vehicles. For 2013+ MY vehicles they switched to NAV traffic via the HD Radio signal - and that's free.
There is no way to update it via a disc? Also I only have a Toyota dealer near me closest Lexus dealer is 3 hours away.
Unfortunately, as far as I know only a Lexus dealer can update the maps. You can try calling the Toyota dealer, but I never heard of anyone using a Toyota dealership for updates.
BTW, you shouldn't be charged more than $240 tops for an update. Frankly you are better off with Waze. I updated my 2007 model once because the updates did away with the necessity to touch the "I Agree" button every time you started the damn car.