It sounds like a worn steering rack bush in the steering rack,as this explains the play youve mentioned,the vibration is caused by the wheels moving very slightly through the play in the rack bush,theres 1 letf and 1 right side bush in the ends of the steering rack that would need checking for play or movement
Testimonial: "can these bushings be replaced without replacing the entire rack? if so should I do this myself or go to shop? about what cost me vs. shop?"
They can be replaced,you shouldnt need to change the whole Steering rack,but you will need a specialist to do it ,eg;Steering specialist not Lexus as cost will be silly with Lexus.At worst you may need a reco steering rack if rack bushes arent availabel,I live in Austraila so I cant tell you the Availibility where you live
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