You may have a bad or just disconnected wheel rotation sensor. Trac works by using the ABS system and a bad sensor might set off the lights you have.
First you could try resetting the ECU by disconnecting the negative (black) wire from the battery for about 10 minutes and then reconnecting. The warning lights may go out. However if they come back on in a few miles, then there is a problem.
You can get the error codes read for fee at a local auto parts store like Autozone, etc. That will at least narrow down the location of the problem.
If all else fails you can get Lexus to diagnose, but you don't necessarily have to get it fixed there, depending on what it is. There are indpendent shops and some Toyota dealers who can repair for less.