Thanks for all the input!
I checked up on that valve job, turns out it was the 60k mile scheduled maintenance: a valve adjustment. I keep putting premium in there, and I think the noise is going away. Guess you can't get away with being cheap on a Lexus. I can hear the noise from outside only, like when I have the windows down. When I start the car, I can hear the noise bouncing off my other car. When driving past a high curb or pass parked cars, I can hear the noise then, too. With the windows up, I don't hear it.
I'll get some injector cleaner to help out. I heard a mechanic recommend Amsoil PI (Performance Improver), but even my local NAPA store doesn't carry it. It's selling for $7.70 at the Amsoil website. Do you guys have a recommendation, and isn't seafoam fuel injector cleaner made for marine engines only?
By the way, putting a screwdriver to your ear with the pointy-end against your valve cover IS a good way to listen for knocking over each cylinder.