Yes, this forum is littered with data points of folks doing exactly that. Take a read through the below threads for starters.
In order to avoid the tax you need to sell directly to a dealer or a Carvana, Vroom, etc.
The process is essentially this: Step 1, verify with Lexus Financial that you can sell to a 3rd party and what the 3rd party payoff is. Step 2, solicit offers from Carvana, Vroom, local dealers, etc. Step 3, pick the best offer and move forward.