Per some Google AI:
If your 2012 Lexus ES350 blows hot or warm air before the cold A/C kicks in, it usually means the refrigerant pressure takes a minute to stabilize, or an electronic damper door is sticking.
Common Causes & Solutions
Low Refrigerant: Over time, A/C systems can slowly develop micro-leaks, resulting in low freon levels. When you first start the car, the compressor struggles to circulate the remaining pressure, causing warm air to blow until the system equalizes.
Fix: Check your refrigerant pressure with a gauge. If it’s low, the system needs to be checked for leaks and recharged.Stuck Blend Door
Actuator: The A/C system has small electric motors (actuators) that open and close doors to mix hot and cold air. If the "air mix" or "mode" door gets stuck on the hot setting when the car is parked, it will blow residual heat until the climate control forces it into the cold position.
Fix: Try resetting your HVAC computer. Disconnect the negative battery terminal for 20 minutes, then reconnect it to recalibrate the damper doors.Failing Compressor or Relay: If the compressor clutch is slow to engage when you press the A/C button, the compressor may be wearing out or the magnetic clutch relay is failing.