Hi this is Dusty, I'm one of the auto experts on RepairPal's Car Genius team!
Yikes, driving without a headlamp is risky business.
The AFS warning light coming on in your Lexus indicates an issue with the adaptive front lighting system, the cost to repair will vary depending on the specific problem.
The Adaptive Front Lighting System (AFS) system was designed to pivot the headlamp when driving through turns, up or down hill etc. to better improve visibility, and uses inputs like steering angle, or changes in vehicle ride height.
So, the issue could be as simple as a failed ride height sensor, adjustment motor, or something more complex.
As for the bulb going out is a separate issue, the headlight bulbs operate independently of the AFS, and could just need the bulbs replaced.
When replacing the bulbs, I recommend doing so in a pair (driver & passenger) to avoid any issues with varying brightness.
Both issues could easily be resolved through a firsthand diagnosis by a competent professional, they'll have access to the tools, data, training, and skills, needed to pinpoint the failure.
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