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Head to the nearest Lexus dealer that is how they design the car and yes it a shame.
remove bulb from in side the boot
Replace headlight bulb only when blown.
It will vary depending on if you have HID lighting or Halogen Lighting which you did not include in your question. 2002 Lexus GS300 headlight bulb general replacement procedure: Purchase the correct replacement headlight bulb(s) first, before disassembling the vehicle. See sources and related links below for replacement bulb information. Then consult your owner's manual for the headlight bulb lamp replacement procedure. As simple as it sounds, the owner's manual is the best place to start for bulb replacement instructions and illustrations. You may want to consider replacing both left and right at the same time in order to keep brightness and color equal (optional).
go under hood reach down where headlight is turn the light counterclock wise and pull bulb out then twist bulb and it will come out.
Yes you can just replace the headlight bulbs. First you have to take out the cover by the battery. Then unscrew the cover by the radiator and simply lift it up to take it off. The light bulbs are visible at this time.
On older vehicles you replace the entire headlight. On the newer vehicles you just replace the bulb unless the headlight assembly is damaged.
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Gain access to the rear of the headlight housing. Remove the weatherproof rubber protective boot and remove the headlight bulb socket. Replace bulb and re-install in reverse order.