I was perusing through my MX-5's owner's manual, today and found advice that may be relevant to our Lexus CD players.
The manual suggests removing the sharp outer edges of any CD before it is loaded into the CD changer. Sharp edges, according to the manual, may prevent the CD changer from operating correctly, resulting in an ERROR message. A depiction shows a pencil held against the upper CD edge while the CD is rotated. Repeat for the lower edge.
After I thought about it, I realized that it does make perfect sense, although I'd use a small file or carefully held razor blade to do the same thing. Hey, it's worth a try!