It is real easy it just looks complex
here is a post i made
http://us.lexusownersclub.com/forums/index...topic=14495&hl=
On an ES their are 3 main ground points
1 - under the battery tray , .5 feet
1 - to the transmission , 1.5 feet
1+ to the starter, 1 foot
everything else is not high current and is usually fine.
5 feet 0-1 gauge wire max ,$25
6 0-1 gauge gold teminals $15