Hello, often times when you hear the motor working but the window does not move, the window regulator is the actual fault that needs to be tested and repaired. This is the cables and gears that moves the window up and down, from the power provided by the motor.
Hands on testing is needed, including accessing the components inside the door and testing.
Use this link to find some shops near you that can help with your concern:
www.repairpal.com/repair-shops
RepairPal Certified shops can diagnose and repair your 2002 Lexus ES300. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.