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AKP, First off, once the car is out of warranty, don't take it back to a Lexus dealership unless you have lots of money. The ES350 is a fancier Toyota Camry, and any good mechanic who can work on a Camry (meaning just about every mechanic) can do the work on your ES .... much cheaper. The key is to find a GOOD mechanic who you trust. Check with your friends, co workers, car guys who you know ... they can suggest an honest mechanic who knows his stuff. That said, some things on your ES will need to go to a Lexus dealership for fixing because they have the expertise for Lexus systems, such as reflashing the software of the transmission, programing a new key fob, troubleshooting the security system, things specific just to that model of Lexus that any other mechanic will not have access to. I suggest after you find that mechanic, have him check the car out. It may simply be in need of a throttle body cleaning, or a new fuel filter. Or it may have a problem with the accelerator position sensor, or even needs a tune up with new spark plugs. The mechanic can read the codes and get to the issue fairly quickly from what you're describing. In future, always state the mileage of your car, because that can lead us to the more common issues that arise as a car ages. Good Luck!