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How often should the brake fluid be changed?

It is recommended to change the brake fluid every 2 years or 40,000 km (whichever comes first). If the mileage is low, use the time interval as a guide — once every two years.

Why is it important to replace the brake fluid on time?

In Lexus, the ABS module is especially sensitive to the condition of the brake fluid:

Over time, the fluid accumulates moisture, leading to corrosion inside the ABS module.
Improper replacement can exacerbate the problem.
Sometimes because of this or when air enters during operation, a 'quacking' sound may be heard from the ABS module when pressing the brake pedal.
Features of replacement according to Toyota recommendations

In 2009, Toyota issued a technical bulletin detailing the procedure for bleeding the braking system.

🔗 Link to the official document: at this link

User acsumen on drive2 recorded a video explaining the principle much more easily.

https://www.youtube.com/watch?v=zkjSE66PWB4

But in short
Preparing for bleeding

Connect charger as it is a mandatory condition

Any container for draining brake fluid

Download instructions

Familiarize yourself with nuances

It's better to bleed in two people. One should be inside the car pressing the brake pedal when required by the program.
But I did it alone using the brake pedal rest

And lastly, you need a teastream and cord (adapter) for diagnostics

And patience. If rushed, it may not work on the first try.