Who was it serviced by? Was it at Lexus or a Lexus specialist? If so I wouldn't do anything, I'd get the oil and filter changed 10k since last service and that's it.
If it was serviced by anybody else then I personally would put it in for a full service. But that's just me, mine was supposedly full services 3k miles ago when I bought it but I noticed they didn't do the brake fluid, diff oil, spark plugs or cabin filter so I got it fully serviced for peace of mind. It's your call really :)