I drove the Hyundai Genesis (alleged Lexus killer) was disappointed with ride not even close to the Lexus. Tried the Nissan Maxima which this car replaced, nice car but that single speed tranny was very strange. Also tried the Infiniti G37, a good performer and quiet ride but it can't touch the Lexus ES350. Get the nav with the back up camera, the rear deck lid sits high and the camera will really help when backing up. When you're test driving it just take note and compare it against any other car you're considering. Then the choice will be easy. You'll pick the Lexus ES350. Great car!
Nav, back up camera, voice activated controls, blue tooth, heated/cooled seats, awesome smooth ride.