I returned a leased 2007 ES-350 with a leased 2010 on 11-04-09. I've driven it 600 miles as of this writing. The 2010 retains all the qualities of the 2007, but adds more. There are only minor exterior cosmetic changes, but they add to the look of the car. A better quality wood and judicious use of chrome have refined the interior appearance. The car rides pretty much the same as the 2007. Although no significant change has been made to the drivetrain, seems to accelerate much faster when you "punch" it.
Sirius XM radio has proven to be a godsend on road trips. No more searching for stations. The navigation/bluetooth phone system has been improved greatly. It's faster, more logical to input and it has always found the address, something the earlier model had problems with.