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Actually I replaced tires on mine and still had noise, turned out to be front wheel bearing, however generally the rear bearings are the culprit on these cars. I went with Yokohoma Parada X tires and they are really quiet.

You might have a wheel bearing going bad....Ask someone else to drive and sit in different positions and listen for the noise to see if you can localize it. Mine turned out being a front left wheel bearing, but many have had the rear wheel bearings go out. I too tried new tires, noise still there, replaced bearing and it is quiet.

You will have to remove the entire hub assembly...THis envolves removing the brake caliper, disk, and unhook the shock strut, and remove the ball joint so as to free the hub...The axle nut will have to be removed (217 ft lbs) and knock the axle out of the hub. ONce the hub is removed from the car the bearing will have to be pressed out (requires a hydraulic press 12 ton or more) and the new bearing pressed in. Good half days work for the do it yourself guys..The axle nut will have to be torqued to 217 ft lbs. Also forgot the speed sensor for the abs will have to be unhooked prior to removing the axle. If you google how to replace wheel bearing on Toyotas there are sites that post pictures with tips... If you dont have a press your local auto parts or machine shop can handle the job... here is a great thread on Toyota nation on a highlander which is exactly like the Lexus: http://www.toyotanation.com/forum/107-camry-solara-lounge/255035-diy-front-wheel-bearing-r-r.html