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Do you have a long drive shaft from the engine to the rear to what looks like a transfer case? Or in other words, if yours is AWD, it will look like it is a RWD car. Otherwise the rear tires will have no axel back there.
Both are lean errors, with the P0171 being among the most common of all CELS, here is my list:
injector blockage
dirty air filter (that is a big one)
dirty PVC filter
IACV blockage
gas cap
Exhaust pipe leak (right around the manifolds off the engine block, usally a hairline crack can be seen
and finally though probably lesser so, A/F sensors (this can be checked by a mechanic with an advanced scanner...need not be Lexus/Toyota, but they can read both banks 1 and 2)