We have had the same problem on our 2002 SC430 radio for a few years - funny that it skips when ever the radio station was selected from the pre-set push buttons but if you then rotate the tuner knob up or down a few stations and then come back to the one that was skipping - all is fine. Until you do it again, - push buttons = skip; manual tuning = no skips.
Now the CD is starting to skip as well.
Be interested in hearing what Lexus did for you.
Thanks,
Tom W