The yellow light has worn out on one side, when i search up reverse lights i see light for the other set of tail lights, anyone know a part number i could reference?

 

Your question is a bit unclear. You have '97 + tail lights in poor shape. The reverse light lens is clear not yellow on a new lens.

 

That yellow square on the tail light, only one lights up when i put the car in reverse, my question is if anyone knows a part number or a fix for it

 

Based on your explanation, I understand that you are saying when the car is in reverse, only one reverse light turns on (left or right). The other bulb does not work

Since you have a 1992 SC with 1997 tail lights, you'll need to replace the bulbs specified for the 1997 model year

The reverse light bulb is 1156 according to the owners manual:
https://www.lexus.com/My-Lexus/resou...d_guides_promo
https://assets.sia.toyota.com/public.../sect6/640.pdf

These are the removal steps: