New to forums and lexus overall. Car has a hard time going into drive when first starting. Needs a high rev to kick into gear. Reverse also the same. or if i throw it into Reverse it feels like neutral.

 

Since yours is a 2002, you will have the transmission dipstick. Have you checked the fluid level while the car is running?

Also, how long have you owned the car? If it's been awhile, is this a recent problem that just cropped up?

 

I got it 2nd hand. Test drove it and it seemed ok till the next day. Figure might just need a warm up but i seen a few guys just start and go. Also fluid is ok.