how do I remove driver door from 1996 lexus es300

Just wrenches or sockets. A floor jack helps support the weight off the door while you unbolt the hinges. Open the door part way and place a jack under the mid point (wrap a towel around it so it doesn't scratch the door), then jack it up just enough to take the weight off. You'll also need to disconnect the wiring harness, so it's handy to have trim tools for removing the door panel, but not necessary. Lower the window before disconnecting the power so the door is easier to handle and less chance of breakage.