I have exactly the same problem but what did you do to take care of your problem? I noticed a problem when we were on our trip to California my wife said it started to happen about 6 months ago but the problem went away and then it came back again. So I took my car to a dealer in California but they said they had to order a new cd player and it would cost me $950, I didn't know if labor included or not and it would take one week to arrive.
The bad thing is my warranty 4y/50000miles, and my car is 4y3m eventhough is only 36000miles, it won't qualify for the warranty.
I too have the exact same ERROR 4 problem on my 2004. I am entertaining a previous post's idea about removing the car's battery for two hours and see if it resets. I am thinking that we are not the only few people who experience this poor Lexus SUV quality. Beside this, I my car experiences little problems here and there which is not expected in a LEXUS!! My brother has a 2002 RX300 and a 2004 ES300 and he experience numerous quality related problems on his car. Never buy a LEXUS again.