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When the indicator light on flashes
Touch and turn off the air conditioning system before turning it on once
more. There may be a problem in the air conditioning system if the indicator light
continues to flash
Doesn't tell what the issue might be. Looks like they want you to try the "cable company solution" and turn it off and back on as a first try at getting thing right.
Since you say it functions when you're on the highway, It might be all you have going on is a blocked/clogged condenser.The highway speed moves enough air to keep things from overheating and shutting down the AC. When you're going slower around town, there's not enough air moving through.
Here's a video about cleaning an AC condenser. Not on a Lexus, but it should give you some idea of what's involved and shows how gunked up they can get with bugs and various road junk