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It's probably a problem with the shift lock system . This is a safety feature that won't allow you to shift from park into a gear unless your foot is pushing on the brake pedal . Brake switch sends a B+ voltage to a module (maybe) ,the module then energize's a locking solenoid ,to unlock the shifter . Google lexus shifter interlock .
start with the throttle positioning sensor. if you are willing to pay the diag fee an experienced tech with the proper tools should be able to pinpoint your problem by scanning the vehicle.
Go with the Benz as the lexas can not be repaired except by lexas for big $$$$$$$$$$$$$$$$
I owned this model lexas and, i am a mechanic! the lexas is a throw away razor! a very bad car!
I now have a S class pure heaven!
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