Well, ok. That tells us that a lot of fluid is trapped in the torque converter and can't simply be drained from the two plugs underneath. Mixing old, burnt fluid with new fluid is not proper maintenance. It would be comparable to draining half of the engine oil out every time you performed an oil change.
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Here is the approach I use. Buy 25 qts of Type IV ATF. Drain and refill every week (or every other week) for 5 weeks. At the end of this campaign, you will have replaced 98% of the ATF. Yes, it takes some time. But, it is a relatively cheap and easy way to flush your system. If you back off to three changes instead of five, you will replace about 89%.
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I guess that is still cheaper than a flush job, and Lexus doesn't have to touch it.