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its pretty simple. ive never changed one on a lexus but if theres enough room behind the hub, you can simply hammer out the old one and push the new one through. once its through, tighten a lug nut on it and keep turning it until the stud is pulled all the way through.
Super simple, autozone or any parts store usually carries the studs you need , also like $1.25 piece..I use to change them a lot on my integra cause I swapped between rims and drag slicks.