Sorry for resurrecting this thread! VGRS light does not necessarily mean a new steering rack. My 460 (acquired Oct '15) has always had a 10 degree steering offset. So I set about resolving the issue. With Toyota Techstream and an OBD dongle from eBay I managed to centre the steering without touching a spanner. Now... a little more info. My car has been involved in a minor front end at some point, evidenced by Lexus history notes and a quote to repair. I suspect owner took it to an Indy (not repaired by Lexus according to the invoices I have) who appears to have made a decent job of the repair, but couldn't figure out the steering issues. Apparently, whenever the car detects a calibration change (like removing/refitting/replacing) in a steering component, it sets the steering to a 10 degree offset to remind you to get it recalibrated. Until then I believe the VGRS system is inoperative but in my case there was no warning light.
After clearing an old trouble code relating to the ABS system (my pedal is soft and I suspect it needs new fluid and a bleed - which is on my list of things to do), I got the VGRS warning. I then started the steering angle calibration and after that process was complete I not only had a straight steering wheel, but I had no warning lights. No dirty hands, no spanners, no scraped knuckles :D
Having said that, it is possible you have a serious problem with the rack... your mileage may vary. But I picked up a 27k miles 2006 car for a steal because the indy that had it wanted rid and I think was a touch afraid of the complexity and the known issue (steering wheel offset).