2002 Lexus ES300 brakes problems

I had just left my doctor's office and gone to a parking structure where I had parked my car for the visit. I paid the parking charge, got back my validated ticket, and inserted the ticket in the gate-arm machine. The gate lifted, and I put my foot lightly on the accelerator to exit from the parking structure into the street. The car then picked up speed, well past what it should have picked up based on the light pressure I had put on the accelerator, and the brakes had no effect.

Steering wheel shimmy when brakes are applied. This started to occur approx at 22000 miles. The care now has approx 26000 miles. Found 2 other complaints while researching this problem. Odi #s 10034592 and 10037938. Is this something lexus corp is volunteering to fix for their consumers.