Lexus are known for the bad power steering pump seals.
I have 310K miles on my SC. My pump started to leak around 120K miles. I figured I would try some stop leak first before paying $300 for a new one.
Try Lucas power steering stop leak. I drained my pump and put two bottles of that stuff in. It stopped the leak on the seal in about 2 days. I am still using my original pump today. I figured $16 to fix a $300 problem, isn't that bad.
That Lucas stuff do work.