The rear system is controlled by the remote control. The sound is displayed by the headphones. The front DVDs are played by the DVD player in the console under the driver's right armrest.
All this is explained in the owner's manual. If you don't have one, you can probably get one from corporate lexus online.
Please Help: Dvd Player Sound Thru Car Speakers
in 03 - 09 Lexus GX470
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