Code 21 & 28 - Main O2 Sensor Circuit (SC300), Code 21 (Front Oxygen Sensor), Code 28 (Rear Oxygen Sensor)
WARNING: This page is about a different car, the 1995 Lexus SC 300. However, it is still accessible from the selected car via links, so may be relevant.
NOTE:
After repairs are completed, perform TROUBLE CODE DETECTION DRIVING PATTERN TEST.