There are three components that I would check first. I have the procedures in my engine manual, I would suggest that you get this manual before proceeding. Look in the TMS parts section of the site. You can order it from Atlanta Marine.
There are resistive checks that can be performed on these components with a multimeter. The Toyota handheld diag tool is not required.
The three components are:
The Accelerator Pedal Position Sensor, which senses the position of the shifter assy. It is the round gizmo with wires coming out that the throttle cable attaches to, on the drivers side of the intake manifold at the engine.
The Throttle Position Sensor. The throttle plate (butterfly) is driven by a stepper motor, and the actual position of the throttle plate is sensed by this sensor. It is on the passenger side of the engine opposite the throttle cable.
The Throttle Control Motor w/clutch is located next to the throttle position sensor on the passenger side of the engine opposite the throttle cable. It is the aforementioned stepper motor that actually moves the throttle plate.
There are adjustments required when replacing these components, I would bet a paycheck that they are the same parts as on a 99 or 00 Lexus automobile. If you go to a Lexus dealer, they could probably check these components for you.
My scanner isn't working, or I would scan the docs for you. Really, you should have the entire manual as there is more info in there than I could scan.