Very low miles may have been parked for long periods, without engine being run. This can cause issue with fuel injectors and or fuel pressure regulator, needles may rust. Fuel trims, are a good indicator.
It depends on what is needed:
OF&L (L=lube propeller shaft forward and af, and U-joints)
All vacuum line need to be check for cracks and tight fit. R&R any that are past serviceable life (leak)
Clean throttle body.
Clean MAF sensor. (Disconnect battery first, reconnect last. (Leave disconnected, at least 30 minutes))
Air filter. Careful, do not to curl the seal, during install.
Spark plugs if loose or ~90K miles.
Coil boots & seal (Densoe boot kit)
Re-torque head cover bolts to 53 INCH-lbf.
As noted above. Clean radiator fins.
Thermostat
Radiator cap
Flush coolant.
Heater tees.
Replace any fab belt pulleys that make any sound.
Clean battery with baking soda and water solution, Clean battery post & clamps.
As link above. Clean PS reservoir & flush fluid. (Mobil 1 MV ATF)
Run on HWY twice a month, for ~20 miles.
For 10 minutes run at 4,500 RPM, a few times year. If not regularly driven on HWY.
Add fuel system cleaners like 44K or Chevron Techron in gas tank. Once a year.
Have Toyota dealership. Clean fuel inject onboard. "Decarbonize service"
Brake fluid. Every 3 years. Use only Toyota brake fluid.
Service every 30K miles.:
Wheel bearing & axle bearing and brass bushing.
Front differential
Transfer case
AHC Fluid
Service every 60K miles.:
Rear differential.
AT fluid.
Reading:
Look up, at Lexus or Toyota owners web page: Preventive Maintenance schedule.
Click on my Master link below. Look at some of the restore projects.