You MUST READ the error codes to learn which detected fault is causing the 'limp home' mode. Try PepBoys or Auto Zone etc free Scan to read the codes. May require DEALER diagnostic computer to reset/clear the error code(s) and/or repairs. Good Luck, it may be trivial loose connector or may be mega-buck disaster

there was a recall issued that said the ECM needed to be reflashed. Contact a dealership service writer and have the VIN number handy. They will check to see if the recall work was ever done on your vehicle. Although that recall was for the stability control, it's a possibility

The sensor inside the door latch is probably stuck. Try spraying some WD40 or similar into the door latch mechanism. Open and close the door a few times. Give it some time to soak in. If that doesn't work, you will need to have the sensor checked by a pro.

The oil filter on a Lexus GX460 is a cartridge type filter located at the bottom front of the engine. It is difficult to see without removing the front engine undercover, which is basically a steel plate shield held to the vehicle by 4 bolts. Once the shield is removed, the oil filter housing is visible right behind and just above the stabilizer bar. The housing is positioned sideways and a large pair of channel locks can be used to unscrew the black housing cap. Make sure you have a drip pan ready because a fair amount of oil will drain once the cap is removed. After the cap is removed, it's a simple matter of removing the cartridge filter with your fingers and popping in the new one. A new rubber o-ring should be included with the replacement filter.

Looking at the engine left side

It's a Lexus, it knows you need help with traction, so it comes on. Even a few pounds difference in tyre pressure, or a difference in road surface on an incline would be beneficial to have it. https://www.google.ca/search?q=lexus+gx+460+traction+control+light ..