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Lexus Rx400 2006 engine sound

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Need some advise of Lexus experts. Recently bought my Lexus RX400h with 145000 km, this is my first Lexus and first hybrid experience. One time at the first start I experienced problem of engine as you can see on video attached. After several days in service and all checked it appeared that I did not had a fuel. (my car is equipped wit LPG system, which is very common where I live, so I just did not check my fuel in the thank.) So I fueled my car and everything seemed to work fine, all liquids are in normal level and there are no oil leaks. 

Anyway besides this problem when the cold time appeared I noticed that on the first start I have some strange engine sounds which are similar to sounds on video just several times lower and last only couple of minutes. Engine has a rattling sound and small vibration. I checked my battery which is near engine and it had a low voltage, so I changed it but the problem did not expire.

So i googled the problem and found that more likely it has something to do with ISC reset and I have to perform ISC learning procedure. Has anybody experienced the same problem and what could you suggest for me to do?

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