I have a 1997 ES300 where the alarm still goes off randomly once the doors are locked. Not every time, but enough to cause problems. Lexus theorized that it was a door actuator--replaced one and still happens. They replace the one of the back door that is used the least. I would have thought the driver door (with 215,000 miles) would be a more likely culprit.
Does anyone know if the actuator can cause such a problem?