It sounds a lot like what happened on my '01 LX. Driving to work one early morning, same lights lit up. On the way back from work, stopped by Autozone, stuck an OBD tester on her, and no codes were thrown. Went by Lexus dealer next day, they also found no codes.
A bit of digging on the weekend showed a fried brake fuse...after spending an hour tracing the wires from front to rear, found the issue was a short between ground and brake wire...brake wire was broken and frayed, ground wire frayed. Location was in the tailgate harness where the harness crosses from body to tailgate. Crappy design allows the harness to make a back-and-forth u-bend between body and tailgate.
Correctly designed harness should have been parallel between body and tailgate for at least 3-4 inches so that the harness would twist instead of bend.
Fix involved splicing broken wire, re-insulating ground and brake wire, wrapping Kapton tape over wire bundle, convoluted tubing over that, and lacing take in 4-5 places to keep everything in place. Fix is good after around 60K.
Point of all this story is that electrical gremlins may cause dash lights to indicate weirdness without throwing codes.
OP's issue with intermittent dash lights might point to something similar.
hth
Steve