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I've never had it done at a Lexus dealership - usually at a Batteries Plus store where the battery doesn't cost as much and one of the employees installs it at no additional charge while I watch.
I have seen Lexus parts in Austin do the following for the customers ..
1. Chaged wiper inserts in pouring rain
2,. Replace key-fob batteries.
3. Give away good half of the broken key shells [older keys would break at times].
Yes dealerships charge higher price, but I have seen them provide excellent service too.
It's probably not worth driving to the dealership for just a battery change (this button battery only costs about $3-4).
But in my experience, Lexus replaces FOBs batteries at no charge and with a smile