No it didn't. My insurance covered the screen replacement (it was a genuine screen from Lexus.eu. My appointment was rescheduled 3 times because of supply issues) and roadside 'recalibration' basically the fitter runs a quick diagnostic to ensure all functions work.
My OCD wouldn't let me accept that so I paid to have the system done 'properly' through my dealership. They organised it all but the car had to go to a specialist workshop to have it done. Lexus don't have the space or equipement to do it themselves. Included in the work was a complete factory restset of the suspension geometry, with before and after printouts provided. Not cheap at ~£400 I feel the system works better now than I remember from before (lane assist and roadsign recognition especially) but I realise I have approx 400 reason to think that!! 😉