2002 Lexus is300 ignition stuck accessory position.

Try to turn the steering wheel in the same direction the wheels are turned. It may have torque-locked. Not sure if removing the key while it was in accessory was the best idea though.

Tried turning the wheel, but it did not help.

Tap the end of the key into the ignition hard but not too much force then you pretty much just have to force the key to the right. Same thing happens to me

Just fixed the same key not turning issue with my RX300 2004. I had all ideas from google and I thought making good sense on my list but tried "wiggling steering wheel" advice from my co-worker first. Guess what? It WORKED.