I had similar issue with my windows and rear door in my 2007 model last week as well and it was a very easy fix.
For the windows, go to the individual window control and open the window all the way down and then close it and keep the button held in the up position for a couple of extra seconds. It should then work from the drivers door controls.
For the rear door, lock the car using the actual key in the drivers door lock. Remove key for a couple of seconds then open car again with the key. Leave key in the lock and again turn it to open the car (which is already open), you can now open the rear door by hand and when you close it you will be able to open it from interior button as well.
Hope this helps, it scares me when something goes wrong with my Lexus as I automatically think its going to cost thousands to fix. Then when I find the usually very simple fix it restores my faith and confidence and I give the old girl a good clean inside and outside and appreciate the style and comfort even more.