If there is a fault with your pedal position sensor you need to verify that the sensor is bad. Also, my experience is if its running rough and stumbles I will usually inspect/clean the throttle body and MAF sensor (you need special electronics cleaner safe on diodes and sensors). Its not uncommon for these to get dirty and dirty t/b's usaully cause 90% of rough running conditions. If your car is heavily hesitating and misfiring you need to have it scanned at the dealership and dont throw parts at it. Diagnostic scan tools are priceless and Im not talking about the scan tool Autozone lets you use. Yes you have to pay a technician to hook up a computer but lexus parts are not cheap enough to just throw at your car in hopes it fixes the problem.