Have followed this post as my 2016 had exactly the same issue, even down to me showing Lexus Milton Keynes Roberts videos as the noise and vibrations were identical.
They told me it was a known issue with fuel pump and injectors, and have picked it up after warranty work this morning. They have replaced both the high pressure fuel pump and injector one. They say the issue has been resolved and as i only picked it up this morning, time will tell.
The Lexus chap did say there was a paper written on the fuel pump issue, that was affecting injectors and that they had a few in lately with same problem. They rang Lexus UK to get authorisation to do the job on Monday and it was authorised no problem, so it could well be more common than I thought.
Thanks to this post, i have had the job done via warranty and hopefully back to faultless motoring.