The Lexus/Mark Levinson system rarely gets enough credit. Pretty much no matter which Lexus model you're in it sounds great and is a serious upgrade from the stock stereo. I used to joke that I bought
Stereophile magazine's "Best Factory Car Stereo" and it came with a Lexus.
The only problem is that if your home system isn't top-notch, you'll quickly want to upgrade it to try and sound as good as the Mark Levinson. In my case I ended up walking out of a stereo store with a bunch of B&W speakers, and those keep up fine with the car