Are these services recommended or mandatory? I don’t want to jeopardize my warranty? The Driveshaft Torque & Rear Differential are the ones I’m really questioning. Thanks

 

Use the maintenance guide that came with the car or you can get a copy online at Lexus. I do not recommend that you go with the dealer recommendations if they are different from the owners maintenance guide since the dealerships love to have you come in for early or unnecessary work.

Rear diff fluid change is 15K IF you are towing. Get the real service schedule from Lexus website (not the dealer)

 

2020 Service Manual

This is obviously a different year, but should be the same.
See p 49 for the service that you are asking about.

 

Thanks, what an eye opener, stealer (dealer) versus manual. Many thanks.