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If the problem is in 1st gear as as you take off and as speeds get greater and shifts into second gear sometimes it's a slipped belt in rear tire and as speeds starts to get above 10-20 mph problem starts to fade away sounds a lot like a slipped belt in a rear tire
It does sound like your security system has activated! But you might want to check with your back up keys to make sure. If the back up key is not recognized either, then it is something for the dealer to tackle. By passing the security system is extremely complicated on the Lexus, and not something that someone can talk you through.
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