The GS350 F-Sport is, in reality, the best "5-Series" ever built. It is very tight, has precise weighted steering, and handles like a BMW--or even better-- in every way. It is the ultimate sports luxury sedan...but you need to get the F-Sport version and drive it in Sport+ mode (the most aggressive mode), which decrease gas milage somewhat.
However, unlike the 5-series, the GS350 has the interior quality and fine leather of a $100K+ car (I'm not exaggerating--especially with the cabernet interior), and the build quality and long-term reliability and service that BMW or Audi can't match.
Btw, I've been been driving German sports sedans for years, and this Lexus beats them all.
Tight ride and steering, quality of leather, interior, the best sports seats ever (on the F-Sport only), a very responsive high-revving engine (feels much stronger than 306 hp!), Mark Levinson Sound ( it's spectacular for easy listening, jazz, and classical music espec., but it's very elegant and not designed for heavy bass/boom-box type music), Lexus build quality and reliability.
Only comes with 6-speed auto transmission, so it doesn't get the high mpg of an 8-speed (I average 21 mpg), poor quality tires--Bridgestone Turanzas-- that come standard with the AWD F-Sport model (Unlike the great tires on the RWD version).
Once I got rid of the Turanzas and got performance tires, it took this great car to even a new level