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This is a step-by-step DIY guide aimed at bypassing the ridiculous steps listed by Lexus itself. This compares with other methods, and I found it to be the simplest, most straight forward. You can use a 3/8" drive set, but the 1/2" set is listed below with other necessary tools that are pretty good. Good luck!
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PARTS AND TOOLS USED:
Best flashlight ever! : amzn.to/3N8UoSW
Breaker bar set: amzn.to/3MGMRZW
Needle nose pliers: amzn.to/3P2hifU
Deep 1/2 drive socket set: amzn.to/3oI5xRj
Extension multi set (really good): amzn.to/43E56Gy
Open end wrench set (metric): amzn.to/45Ij8bV
Universal joint set: amzn.to/3WR3R4I
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CHAPTERS:
0:00 The simple way or the hard way
0:37 Step 1 - Disconnecting the battery
0:55 Step 2,3 - Jack up the car - Remove the access panel
1:04: Step 4 - Removing the transmission bracket
1:49 Step 5, 6, 7 - Removing the starter wiring
2:28 Step 8 - Removing the starter bolts w/ methods and tools
4:26 Step 9 - Removing the subframe nuts
4:54 Step 10 - Jacking up the engine
5:33 Step 11 - Removing the starter
6:22 Step 12 - Installing the new starter (w/ part numbers)
7:21 Step 13, 14 - Lower bolt loosely in - remove the engine jack
7:47 Step 15 - Reconnect starter wiring w/ method
8:40 Step 16 - Tighten the starter bolts
9:20 Alternative methods and comparison
11:09 Difficulty Chart
May be similar for GS350, GS300, RC300, RC350, IS300 as the starters are listed as the same between 2006-2017