My front pads and disks all just been replaced at 70k miles and were totally knackered, though probably due to car being unused for 7 months and a lot of rust on them, but also badly lipped.
It had horrible, very poor brakes with no real bite, no servo assistance and a very solid pedal feel (little pedal movement).
Brake fluid resevoir has also been replaced as the built-in braking pressure sensor was also faulty.
After weeks of problems, it's now fixed.
This explanation furnished by Lexus stoke.