I have a ‘23 RX350 and after about 2 years and 10K miles if the car wasn’t driven for several days the shift error message would display left if speedometers (before shifting out of PARK). It would always disappear after shutdown and restart. Several trips to the dealer and an email to Lexus provided no answer. Finally I drove the vehicle to the dealer and left it running. The code said I had performed multiple rapid shift changes (not true) They finally called the Lexus engineers who said this error message can occur if the battery is below a threshold voltage during start ( no problems starting the car). I am sure a new battery would cure the problem, but I am holding off for now as the battery is less than 3 years old. Anybody else had this issue?

 

In a way you're lucky. Batteries don't always give you a warning before leaving you stranded. Yours is. These cars can do weird things when voltages are off. A three year battery life isn't necessarily that unusual here in the Florida heat, especially if you don't drive a lot and make mostly short trips when you do. If I were you I would bite the bullet and heed the battery's warning before it locks you out of your car.

 

Similar message keeps popping up for me in cold weather only. Incredibly annoying Only happens in the winter.

 

If you are referring to the "Shift System Malfunction- See Owners Manual" message, there is a TSB to resolve this. I dealt with this message for a little over two years. It only came on during cold winter weather and when I first drove the car to the dealer with the message still displayed one morning, the service advisors and techs had never seen or heard of it before. Then the TSB addressing this came out and I had the software update performed a few months ago. No more message. There is a thread in this forum that addresses this in good detail, try a search.

I also think that the original batteries in these vehicles are not the best. See this thread if you haven't yet. When mine died at around 2 1/2 years of use, it did so without warning. Car just wouldn't start one morning and the battery would not take a charge. Rather than getting another sub-par battery under warrantee, I opted to replace it with a more capable battery (much higher CCA's). I recently discussed this with one of the service advisors at the local dealer and he stated that they have seen a lot of premature battery issues in these cars. He agreed that I made a wise choice to replace the original battery with something other than what I would have gotten if I had made a warrantee claim.