My 98 GS300 plays burned CD's just fine. But I don't use the head unit's CD player that often. I usually use the changer. I've found that CD changers are usually better at playing CDR's than in-dash units, OEM or aftermarket.
My Acura TL's head unit has probelms with certain types of CD's after about a year. The problem got progressively worse with time. Lense cleaners helped slightly, but in the end, the performance still deteriorated until it wouldn't accept any burned CD's at all. I installed an Alpine changer in the TL and it has had no problems since.
I've also had the same problem with a Kenwood CD head unit I have in another car.
On CD types: You'll have better luck with gold or silver (on the back-side, not label-side) than with blue.