Gecko
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And as to the Audi vs VW and Toyota vs Lexus, big difference is in execution. Smaller/cheaper Audi's look a lot like VWs inside, while Lexus has completely different interior design to Toyota. It is not just enough to slap leather on the dash and call it luxury.
As to the engines, there isnt a lot of difference because most Audi's sold in Europe come with 2.0 TDI, shared with Seat, Skoda and VW. Sure, if you live in Europe, you might be one of the few that gets performance A4, but most likely, by far, you will be getting 2.0 TDI.
I think the "Audis look like VWs inside" part is subjective. I see it too and I agree, but Audi has much nicer premium trim levels and options, as they should, compared to VW. Plus here, we have the 3.0T engine option and quattro, not to mention S6 and then RS6.
ES has a beautiful interior that I really enjoy, but:
vs.
is a lot narrower than:
vs.
My point here is that we don't know how much GA-K can do or handle with respect to performance, but there's a much larger spread between a Passat and RS6 than there is between a Camry XLE and ES 350 UL. It would be cool to see Lexus expand the ES line in the future, if possible, with a higher power option and AWD. Perhaps ES 450h+ is a start.