Edited to replace step by step write up with a blog post:
Many thanks to Hayne, without whom I would have bunged this into a dealer and probably spent 7-800 pounds on a pump or £3k on a transmission. If you have the P2797 code and suspect the pump bearings it's worth a go.
Armed with some car lifting kit, new transmission oil and bearings for both ends of the pump I carried out the pump repair over the weekend. Also used basic tools, spanners, oil drain tray and a pump for squirting the new oil in. Allow a full day but if you're very mechanically minded with a good set of tools you might half it. Photos and steps attached:
http://carlthomas66.blogspot.co.uk/2016/03/lexus-gs450h-transmission-oil-pump.html
Took me twice the time Hayne did but I didn't have a ramp. So allow a day at least depending on access, tools and mechanical skill. Test drive it. Do a lot of gentle battery only driving to make sure the pump gets a good run and look out for dash warnings. Then a final check with the Mini VCI if you have it and hopefully no more P2797. Take it for a long run. I blasted mine up to Stansted and back to pick up the girlfriend! Brave I know!
Then celebrate with a beer. After you park up the car! I did!
Good Luck!