I agree with both above, have you changed the spark plugs with the correct ones and NOT from Amazon or eBay (both have lots of fakes), buy from a local parts store or the dealer only (for Toyota/Lexus anyway)…
Has the throttle body been properly cleaned??
I would even go as far as to look at the TPS (throttle position sensor) % at idle in live data to see what it is reading…
Here is a video explaining why and how to clean it…
