Not sure if you still need an answer but I worked at a shop and have installed many remote start systems. We use to install Compustar Alarms which I like much better than Vipers. With a Compustar, you can lock and unlock the doors independently when the car is remote started. If you are driving and you park, you can remote start before you take the key out so that you can remove the key and exit the car and it will still be running. From there you can lock the doors from your remote as you walk away. I liked the two way systems because even if you can't see your car, you can still see what is going on, lock/unlock, start/turn off and recieve a confirmation so you don't have to look out the window to see if your car started or not. When you open the car door, after remote starting, the car will not turn off. If you step on the brake it will turn off but that can be bypassed. You still need to insert the key in the ignition and turn it to the on position to drive off. My experience with factory warranties: It did complicate things when a problem occured related to the alarm. The dealer may ask you to have the alarm removed temporarily to diagnose a serious problem but I have never heard of an alarm canceling a warranty. About jeopardizing the integrity and quality of your lexus: go to a shop that has done one on your model car before. I would only bring it to the best shop in you area period. Lexus has a very complex electrical system. I wouldn't pay less than 600.00