All cars can have expensive maintenance and repairs, it depends on what needs to be done. And then there are sometimes huge differences in models of the same brand.
Generally speaking, I have found Lexus maintenance to be quite fairly priced, unlike the usual German suspects (Audi, Mercedes and BMW). My own 2014 IS350 went in to Lexus for its 165,000km service last year, and if I recall correctly, it cost around R4000. I paid R2000 extra to supply 2 new front control arm bushes, because the old ones were cracked (i.e. roadworthy but serviceable) and another R2000 for fitment. So around R8000 in total (R4000 maintenance, R4000 repairs) which, whilst it isn't cheap, isn't all that bad. She will be going in again in 2-3 months and I expect to pay around R4000 again. Brake pads will probably need to be done, but I will do it myself because I think that the dealership is quite expensive on that at around R4000 - R5000.
Lexus have an undeniable reputation for their excellent build quality and slightly conservative design choices, the result is a car that doesn't break often. By contrast, the usual German suspects are quite leading edge, and they are not afraid to try out newer tech which might not have fully matured (at the client's expense). For example, ask any owner of one of these who has needed repairs on their DSG gearbox recently. I am very happy with the 8 speed ZF box in my IS350, it may be 0.05 milliseconds slower to shift than a DSG, but then again who cares? It works, all the time, and when it reaches 500,000km it will still work. The same with the motor: it is a tried and trusted 2GR-FEx which Lexus has improved upon, making small incremental improvements every few years, to the degree that today it is virtually perfect. Incidentally it is also fitted to the Lotus Evora S and Exige S, as well as many Toyota models.
The IS models will generally cost slightly more to maintain and repair than the ES, GS and LS models, that is just how the car is designed and set-up (higher performance has a reciprocal cost). That's even truer for the ISF, but you have to appreciate that the car's drivetrain, brakes and suspension experience far greater forces and wear, so quite understandable.
Generally speaking, if it's a respectable dealership (so not one in Marshalltown or Rosettenville, for example) and you have validated accident-free status and service history, they are all good buys. If you are looking for an especially good one, I personally prefer private deals, and you must not be in a hurry to buy. Set an alert on Autotrader for a private seller deal. When you spot a car that you like, view it, and set a mental price that you are prepared to pay. Make an offer, and be prepared to walk away. Some private sellers are hard-headed, but some are very reasonable. About 2 months ago I spotted a 2015 GS350 in showroom condition with 135K on the clock for R145,000, private deal, and I felt like screaming "Take my money!". Yet whilst I was sorely tempted to buy it, I don't have storage space nor use for it. Had it been an LSxxx, I might just have bought it (and a new home with 4 garages!).
Some good YT channels to help you:
ReDriven:
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The Car Care Nut:
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https://www.youtube.com/watch?v=OJkjE2-O3wo
Scotty Kilmer:
I've been a mechanic for 57 years and I'm here to share my knowledge with you! Over 3 Billion YouTube views. New car stuff every day. The most watched individual car channel in America. Never any sponsored content, just the truth!
www.youtube.com