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Even though its for a 2013 ES350, the steering wheel is very similar and it might work on the GS (see the image below with the 2013 ES steering wheel on the left; and a 2013 GS steering wheel on the right):
The IS/RC steering wheel is also used in the RC-F and GS-F. It is 14.5". I've driven a GS-F, it is a noticeable improvement. It's a less attractive wheel, but I would do it just for the size.
Some people here report that the steering wheel controls work, but I have not tried it myself. I intend to some day, when I find myself with some additional money.
Yes it did! You plug something into the OBD for the rpm speed voltage etc readings. It was about 2,000 for
both the steering wheel and leather airbag. I had a friend that works at lexus install it for me.
I tried to do it myself but couldn’t get the wiring to be tucked in correctly.