Check your gearbox and diff mountings, for if these are worn they can cause these types of noises. I would recommend you change your gear oil and filter regularly but be sure to use the correct gear oil and have somebody reputable carry this out. One way to check gear oil is to allow the car to reach normal running temperature, then engage each gear manually for a few seconds, put the car in P and while the engine is running, check the oil level. When checking oil see that the oil is not very black, doesn't have a burnt smell and contains no metallic residue as this may indicate wear on some of the internal components.
Not to scare you but "lexus is" auto transmissions do have a tendency of packing up after about 100k kms as was the case with mine.
The best advice I can give you though is DON'T TAKE YOUR LEXUS TO SOME BACKDOOR MECHANIC OR SOMEONE YOU DONT TRUST< ESPECIALLY WHEN IT COMES TO YOUR AUTO TRANSMISSION>
I hope this helps and hope its something small.