Did you happen to notice if your RPM's were way up??? That happened to me when heading out on a trip, I have a 2000 RX300 and about a half hour into the trip I noticed the "Pitch" of the engine was wrong, slowed down and was better, sounded like the car was "racing" - well it wasn't going into overdrive - it was the oxygen sensor.
This is very expensive to repair - and I feel my Melbourne Lexus dealer really ripped me off - worse the 2nd time - when I had an oxygen AND a knock sensor done - I no longer will go there for anything, especially will not buy my 4th lexus from them!! They charged me $3500.00 for the two sensors - installing my "Free" ya right tires and some misc. items.........I was shocked at the bill.
I usually drive just the 12 miles round trip to and from my office, in town driving, so I believe this problem had been happening off and on - but of course, on a long trip it did not go back and remained with high RPM's the whole way - very long slow trip home.
Hope this helps,