Update: an intermittent noise coming from driver's side under the dashboard is an electric motor that builds up pressure in the brake booster system. Since the gas engine is not always running, vacuum needed for the brake booster system is not always available.
Lexus service master technician confirmed that gas engine will not start under any circumstances unless car was not powered off. We must have forgotten to hit the power off button when we parked the car, so, once battery level dropped to certain level gas engine kicked in. Perfect explanation and it makes sense. I was able to replicate the issue with a note that once I left the car, it made three tones which was an indication the car was still powered on and key was not detected. Got to be more careful in the future. This hybrid and keyless start is soo new to us.