I bought the ES330 for the ride comfort, and it does the job. The fuel economy is not as expected (sticker ratings). The engine/transmission function is not smooth, but lots of jerk when shifting. Too soon (13K miles) to speak to quality, trusting the market over the years to be right. If the comfort was NOT my main need, I would not buy another. Just not a performing vehicle as I am used to.
FIX the engine/transmission problem. Improve the fuel economy, no reason a car this small, with a 6 cylinder cannot get more than 21 mpg. Widen the seats, there is room in the existing cabin for another 2 inches of seat width, use it for comfort, not air space.