SOURCE: I have a 1990 Lexus 250 ES. Brake lights inop.
check the brake pedal switch by connecting a test light to it and ground.
When the pedal depresses you might hear a click or see the button depress.
The test light should light or not light changing as you press and release the pedal.
Another way to do this is to change the brake pedal switch and see if it works.
I hope this helps.
SOURCE: How to reset check 4wd light on 2007 lexus is 250
read thr codes you can have this done for free at a auto parts store
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