This is 2015 RX 350. What I discovered is that there is an unbalanced mixture through the way the car is running rough at idle and a kind of backfire . I tried to scan and discovered the engine is extremely lean. So I had to like revving it to see maybe it will normalise air with the fuel. And it was normal when reving it. So had to start troubleshooting to know where the air is entering from, before get to know it is from the manifold. We fix it and everything is now working perfectly.