I bought an Acura TL in 2002 and had a lot of noise problems. So when I needed to buy another car last year, I went for a Lexus brand with great reputation. But I was disappointed completely. The transmission hesitation made the driving so painful, in addition to many noise problems (rattling door, overhead, steering column and front passenger seat). In fact there are widespread complaint about the transmission problem in the Edmunds Forum discussions. My mistake was that I did not read them before buying the car. Still, I am surprised that the reviews here are pretty much all good. Go check out the Forum before you buy the ES. Don't make mistakes like mine.
Great interior material. Looks luxurious.
Transmission needs re-design. Better workmanship to reduce rattling.