I bought an 350 ES FWD as my first Lexus as I had two Mercedes and so many Subaru's I lost count .
After driving the ES for a few months I decided to trade it in as I missed the AWD the Subaru's have
The Lexus GS350 AWD filled the bill.
It came with every possible option except the rear sun shade.
The extra's do add up pretty fast but it was well worth it
Everything is good including parking assist
Make the GPS a lot easier as 211 page booklet is a bit much.
Unless one is a computer nerd some of the electronics can make someone insane
Lexus should give a 8 hour class
on electronics 101
as there is so much this car has and including
one amazing sound system