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i dont see why it cant be done before hand. just contact them and verify the price and say you would like to put a deposit on it and ask if they can send you a receipt showing the price of the car and your deposit.
Just saw this thread. OP, see your PMs as I will be at the dealership (and their Toyota store across the parking lot) on both Tues & Weds this week for service.
BTW, I told OP in PM that he needs to verify that the car is at the Lansing store and not at their Ann Arbor store. A number of dealers with multiple Lexus stores share their inventory among the stores and the car is likely to be at another store if you show up without calling ahead.
Car has pronounced driveline whine, broken center console door, poor leather repair on LR seat, and reconditioned LR wheel. I suggested that the OP pass on the car.