yes u can, but there will be some loss of horsepower, other than that u're ok.
The 2010 Lexus IS-F's engine produces 416 hp @ 6600 rpm.
The 2010 Lexus IS-350's engine produces 306 hp @ 6400 rpm.
The 2010 Lexus IS-250's engine produces 204 hp @ 6400 rpm.
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The 2010 Lexus RX-450H's engine produces 295 hp @ 6000 rpm.
The 2010 Lexus IS-250-C's engine produces 204 hp @ 6400 rpm.
The 2010 Lexus IS-350-C's engine produces 306 hp @ 6400 rpm.
The 2010 Lexus GS-450H's engine produces 340 hp @ 6400 rpm.
In 2010 Lexus RX350's started using Timing Chain's in the 3.5 engine, which require no maintenance (unless very high mileage is reached or parts failure). Earlier years <2009 had timing belts. I verified the 2010 model has a timing chain via contacting a local Lexus parts department.
The 2010 Lexus LX-570's engine produces 383 hp @ 5600 rpm.
The 2010 Lexus GS-350's engine produces 303 hp @ 6200 rpm.