You can not program a lexus garage door opener without a preprogrammed handheld garage door opener.
Lexus garage door programming.
First you program your handheld garage door.
Park your vehicle outside the garage.
As an alternative you can use the garage keypad if it is wireless not hard wired to the garage motor.
Garage door programming your garage door to your new lexus can be done by following the steps below.
Simultaneously press the button on your remote control unit and the button you want to use on your in vehicle homelink system.
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Next program your home link using the instruction on this page.
Hold your original garage door remote one to three inches away from the in vehicle homelink control buttons.
If any of the buttons are already programmed to work other units devices skip this step because it clears the memory of all 3 buttons inside your lexus.
Be sure people and property including yourself and your vehicle are not in the travel path of the garage door and that nothing will be struck when the door attempts to close or open.