It's a possible that one of the rear tires is out of balance. The vehicle has very low miles put on it. So, everything should still be covered under warranty.
Have the tires check out. If this doesn't solve the problem, take the Lexus to the dealership. The warranty should cover any problems.
Inspection of the rear tires and rims are first put the fronts on the back and try again if no change The transmission may be shuttering as in worn out and ready to fail. Hard acelleration may be slight wheelspin and the traction control may be kicking in, if the tires are the wrong sizes or the trie pressure is wrong the traction control could also come on. If the shuttering happens slightly even under light acceeration and the tirews are right and the pressure checks out, links and bushings can be worn or rusted this is most likly in the (rust) belt or any city that salts alot. If this is confirmed and the car missed washes when warming after salted days. The possibly that the whole car can be rusted to a dangerious level and may still lookgood as paints have gotten real good in the newer cars
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