The advice about the power flush could be accurate -- if you trust your Lexus service advisor then I'd say follow his advice.
Here's the thing with transmissions: they are easy to ignore until you have problems, like the problem you are having now. So generally speaking they are ignored for thousands of miles, foresaking fluid and filter changes until they start to act funny. I'd say that a "regular" transmission service that includes replacing the filter and draining/refilling the fluid could get you back to proper operation. Let your trusted mechanic do this, and if it doesn't work then look into having either Lexus or a transmission shop give you a diagnosis along with a quote for repairs.
Here's a word of caution regarding transmission shops. In 30 years of messing around with every kind of car imaginable I have never found a truly honest tranny shop. Their solution always seems to rebuild your transmission or to swap your existing transmission out for a rebuilt unit.
Be careful.
From what I thought a flush and a power flush were different. Mine was flushed and it worked for me