In many ways this car is very nice. It is solid and fast contrary to most user opinions. Even though the car is quiet....it is hard to explain you can hear rattles and noises that are annoying. BMW and Mercedes are better built cars but the ES 350 feels better when you are in the car purely for comfort. The ES 350 needs to get rid of the rattles.
More room space and ergonomically a better car than Mercedes and BMW.
Get rid of the rattles. The outside design of the car can be boring. The driver's seat needs more cushion for the back.