I've got some info from previous threads but still not getting close to fixing the problem. I took one advice from a fellow CL member of changing the O2 sensors....still didn't turn the lights off. I went to pull the codes and I believe it was code 67 (EGR?).

I want to try this step propose by a member in one of the threads but don't really know how. Can someone elaborate it a little more? (There is an accumulator next to the master cylinder ,should be some yellow tape on it cautioning about contents under high pressure, use a small piece of vacum hose on the bleeder nipple to avoid brake fluid squirting all over your engine compartment, with engine running bleed all the air from system , the trac light should go out. I followed these instructions from my buddy at Cherry Hill Lexus and the light does not come back on.They also stated the high pressure hose that runs beside the accumalator gets soft and clogs up the unit.)

 

I had this same problem on an ES300. IT happened every time it was really cold. I didn't do anytihng. It went off by itself.