Dave, My wife's '02 Camry has DBW (drive by wire), meaning no throttle cable but from earlier discussion on this or another Lexus site, I don't think your '02 Lexus was DBW until maybe '04. Which all means you have throttle cable and linkage. You should be able to spray some lube into the actual cable from the end under the hood. (You may have to pull a rubber boot back) Then I would check the linkage under the hood. The is a fairly good chance it is the throttle body and I would personally take it off and take the opportunity to clean the IACV (idle air control valve) at the same time. You can spry cleaner into the throat of the throttle body and free the throttle plates but I've found it's best to do it right if you want lasting results. Good Luck!
Also,spray silicone around the throttle plate(out side of the air plentium,where the small springs are) where the throttle cable ends.