I had the same issue with my steering column and my vehicle was out of warranty. I called Lexus corporate and had a quick discussion with the case manager. After a few days, she agreed to have the column replaced with free parts but I had to pay for labor and alignment afterwards. It was a little over 900 in change but vehicle feels much better afterwards. Money well spent, prior to fixing the steering column the car did not drive like an luxury SUV anymore.
5 hours worth of labor, alignment + taxes