car is hesitating check engine light is on and blinking now under the front of on 1999 Lexus RX300

now under the front of the engine the round encased piece is glowing after driving

2 answers
Due to other system failures you have probably trashed that 'round encased' thing called a catalytic converter. Which , incedentally , is what the blinking check engine light was trying to warn you about! Recommend having it towed to a shop for proper diagnosis , more driving may cause more damage , resulting in more $$$$$$$$$$$$$$ gone.
have it scan tested for codes