A 2003 Lexus with an intermittent grinding noise might mean that there is a tire rim rubbing on the brake disk. It could also mean that a tire is rubbing on a fender wall when turning.
wheel bearing?
The break pad.
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Brake linings worn out or wheel bearing is bad
many reasons, steering pump, cv joints may be going out, or you could be grinding some plastic that goes around the wheel
Your front breaking pads are needed to be repalced, you might have to replace rotors.
More than likely a rear strut or rear shock~Angelic Beauty~
There is a timing belt on the Lexus ES300 2003.
Where is the fuel cut off switch located in a 2003 Lexus es300
2003 es300 lexus
How do I NEED Check transmission fluid in a 2003 Lexus Gs 300?"
If its slipping you will smell it. If it shutters you probably have grease spots on your fly wheel. Grinding noise may mean you need a new pilot bearing(throughout bearing).