The Toyota Camry
-based Lexus ES is the upscale brand's mainstream mid-size sedan. What used to be one of the most relaxed cruisers on the market became a more interesting car in a 2019 redesign. Despite that shift, the ES remains a powerful, smooth, efficient, and spacious sedan with all the features you'd expect in a car that coddles. The Lexus ES is also a strong value compared to European competitors.