Over the last few days, my 1999 GS300 started making what sounds like a baby-crying type noise coming from the steering well area, this happens for a few minutes, then the VSC-OFF/ABS/VSC and Handbrake lights come on along with a high-pitched sound continously. This used to happen intermittently and now happens pretty much all the time. The lights do go off and the sound off at random (more often I found this when reversing) and then may stay off for the rest of the journey or may come back on again at random.
The sound is driving me mad - why does it have to make a high pitched sound - the warning lights are sufficient!

Has anyone else had this? can any one shed any light?
any help will be very gratefully appreciated.

if you have a check engine light on, you can take it to an Auto Zone where they will hook up a engine coder to tell what the problem is. It is free too. My steering wheel sometimes makes a noise when it is adjusting in and out , that is from needing to be lubricated. call a Lexus dealership and ask service representative. I have found they are more than willing to help diagnose problems.

any shop that does diagnostics should have an ABS system scanner