Fixed it! Thanks everyone! I swapped coil packs between cylinders 1 and 7. The problem went away on cylinder 1 and did not appear on cylinder 7. Then I installed all eight new coil packs and the engine ran better than ever since I've owned it over a year. All codes cleared and no more warning lights. I would swear it has more power too.
I used these coil packs and they worked great!
Amazon.com: ECCPP® New Set of 8 Ignition Coil on Plug Coils Pack For Lexus GS430 GX470 LS430 LX470 LX570 SC430 Toyota 4Runner Land Cruiser Sequoia Tundra V8 B277 UF230 5C1196 9091902230 9008019027: Automotive
These coil packs fit more snugly on the plugs and the engine harness connectors - that means a better fit in my opinion. The engine harness connectors can be difficult to get the snap lock to click. A little dielectric grease on the seal would probably help a lot.
Some observations: The coil packs go through the valve covers and if the seal is not good, oil can pool around the spark plug. ( That was the case on #5 but didn't cause a misfire.) The seals become hard with age. Some seals are soft silicone and others have hard material overmolded with rubber. The soft ones work better.
The failure of one weak coil pack appears to cause others to become weak and throw codes. The coil pack failures appear to disturb the electrical system and cause the VSC TRAC and VSC OFF lights to come on. After looking at many VSC light posts, a common cause was an electrical disturbance (LED light swap on the PRND2L shift indicator, ABS connectors loose, cable abrasion near the back turn signal/brake light). I saw the VSC lights turn on again 2 or 3 times soon after replacing my coil packs. After a couple of days, that went away. I think the ECM had to relearn the new voltage baseline after installing the new coil packs, but after a few days it was stable.
I would recommend replacing the whole set at 100k miles along with the plugs.