I purchased a 2005 ES330/new... had it in for service 4 times. The transmission always felt like it was missing when slowing down and then accelerating. Once you got going it is a very smooth ride. Apparently the design is flawed. There is a computer chip that needs to refresh, which is fine if you never yield or slow down to go around a corner. The dealership offered a new ES3 50..with extra cost... but I just purchased a 2007 530i BMW.
Work on that computer chip...the change from a cable to the computer chip began in 2003...too many bright people out there to not come up with a better design.