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Any kind of metal polish will do... Even stuff that you can find in the grocery store meant for cleaning pots and pans.
I've never had the patience to really do a proper scrubbing since it takes a lot of time to really polish it and it just gets dirty in a snap again anyway.
Bar Keeper's Friend works for my tips on the TL, I'm not sure if they are the same metal as the Lexus but if so, this stuff took off years of grime without much fight.