OK, after searching throughout the internet and not finding answers, I took my car to my mechanic and we got the bulbs installed. Would recommend Lexus doing it first, but if can't see paying a grand to change a couple bulbs, this is how we did it on my 2001 LS430. Next to the headlight assemblies there are 2 plastic covers each with 3 plastic phillips screws. Twist them only to the point they loosen up and then take a flat screwdriver and pop them out of their holes. They have an expansion fitting on the back. Remove all 3 and then the 2 bolts tha secure the headlight assembly. In doing the rest, you have to be very very careful and conscious of the bumper. On the bottom of the headlight assembly towards the fender, there is a small tab sticking down. You either have to remove the top of the bumper, which I didn't do, or careful push down with your thumbs to get the tab to clear and work the assmebly out. After getting it loose, you can get access to the bulbs. Through my research there is chance of voltage release as it apparently has a capacitor of some nature. Some say to make sure the car sits for a period of time, others say that Lexus uses rubber mats and pads to make sure there is no ground. We left the car for about an hour and then my mechanic unplugged the capacitor before removing the bulb. There were 2 clips holding the bulb in which we snapped back, then turned the bulb and out it came. Note its orientation so you can place the new bulb the same. Push the bulb in, turn to lock and snap the 2 clips back on. Reverse order the previous instructions, once again being careful with plastic pieces and the bumper. All in all it took about 20-30 minutes to do both sides. I as well bought by bulbs off ebay which cost about 70 for both of them. Don't know for sure but think that Lexus charges 350 for the bulb/each and don't know what they charge for labor. Makes me shudder to think that replacing 2 headlight bulbs could run close to a grand. That being said, they are very nice and fitted cars and their method may be safer on your vehicle, I just couldn't afford it right now. Good luck.
