WARNING: This page is about a different car, the 1991 Lexus LS 400 and 1991 Lexus ES 250. However, it is still accessible from the selected car via links, so may be relevant.
Place lift blocks on reinforced support points of side body panels (between front and rear wheels). See Figure or Fig 1.
Fig 1: Jacking & Hoisting Support Points (LS400) Courtesy of Toyota Motor Sales, U.S.A., Inc.