VSC lights came on, in my ES350, and very soon the car stalled. luckily I was able to pull off at a safe spot next to the street. The car would not start after that, and had my car towed to a toyota service center. Since I did not know good Toyota mechanics in the area, I opted to get it towed to local toyota dealership’s service center.
They did a scan ($220 waived off later), found that the alternator was dead, the dealership mentioned it is better to replace both alternator and battery ( $1900 Alternator Job + Coolant change, $300 Battery), I asked them to do the Alternator Job and skip the $300 Battery replacement. Later I found from Walmart that my battery was good and did not need replacement.
My car had alternator fail at 58k miles first time and was fixed by warranty, and then it failed again at 135k leading to expensive repair.
Yes toyota / lexus are reliable vehicles, and parts are very much available and all that’s fine. But the labor in getting things fixed is super expensive. With little or no background fixing vehicles, one needs to keep aside a reserve fund of $5k for these expensive repairs.