Scraped the side of the garage frame parking in. 2017 RX in caviar. So heartbroken since I baby my car.
What's the best way to fix it? Scratches are not deep.

 

Hit that with some polish see how much is transfer and how much is damage. Do you have a dual action polisher?

 

No never did anything like this before since I never had the need to. Thanks for your pointers.

 

Could head down to Walmart and spend $100 on a polisher, compound and some pads see how much of that can be polished out. If I had to guess I'd say you can get that 80-90% better. If the clear coat is damaged or you've gone down to the primer then a repaint will be needed.

 

A professional detailer can minimize the appearance of the scratches in the clear coating. Caution: The Lexus has a soft, thin clear coat, so don’t attempt any wet/dry sanding.
Check this video by Chemical Guys:

 

To be honest, I would just take it to the shop, back in the day I tried to constantly did all the work to my car maintenance and also touch up paint. Touch up paint is reasonable for the dyi person to do on some rock chips but I would leave the body work/paint to the professionals. Everytime I tried to fix it, I failed, most shops wont even work on it because someone else had a go at it. Or charge you a stupid amount such as an extra 500 and not warranty the work.

 

What dannnn said. It won't be cheap, but a quality body shop has folks who know what they're doing, have all the correct tools, and will bring it back as close to new-looking as is possible. On your own, you will not.