Lexus do an Executive Leather cleaning kit, expensive but you'll know it will do the job. It's very good at removing dye transfer to the Seats though. Personally for routine cleaning I simply wipe down with a damp microfiber cloth after gently vacuuming.
Not owned an SUV but did have a people carrier for many years and I used to stand on the tyres to get to the centre of the roof.
I was a lot younger then though.....
This is more to do with the camber settings and adjusting tyre pressure will have negligible effect.
IIRC this is a characteristic of the model, certainly is on my RC. Have you had the suspension geometry checked?
I guess you have already read the T&Cs
https://d3rvezpmgp265q.cloudfront.net/lexusone/lexgbenv11/British-Gas-Wall-Box-Terms-and-Conditions-Final-2022_tcm-3157-2456319.pdf
If you want the best give the guys at d:class in Chobham, Surrey, a call. They did a complete nappa retrim on my C class Mercedes, absolutely stunning result. Thoroughly recommend..
https://www.dclass.co.uk/why-dclass