I'd say yes.
Get the annual health check don't and the batteries are guaranteed to 15yrs
https://www.lexus.co.uk/owners/servicing-and-maintenance/hybrid-health-check/#health-check
Maybe be of interest, not from the UK but does list different levels of cover from LEC policies?
https://www.lexusfinancial.com/us/en/vehicle_protection_plan/vehicle_service_agreements.html
Well, it's what Lexus put in all their new cars! It's what they will top up the system with at service time. I have no complaints, never frozen up on me. Costs me about £6 a year
In my car it just remembers. As said it's relative to the normal setting and that is linked to the seat position memory but I don't have to press the memory button to set the reverse tilt position.
It may be the function isn't available on your model/year
That's how it works on my RC. Put into reverse and then adjust the mirrors as required. The setting is stored automatically but remember it is relative to the setting when in D, so if you change that you will have to readjust the reverse setting