The 7ES is indeed, the most comfortable car I've ever sat in, period. Been in the 3LS and the Crown Majesta before, some say these are the best luxobarge but they are so soft I want to puke in the rear seats. I also don't like the completely isolated feel of the old school Toyota luxobarges. Sampled a ES300h, very good ride quality and surprisingly good driving dynamics in class. The 5 series L is a boat, E-class L feels big and unwieldy (very hard to park), and A6L is hard as a rock. The ES gives confidence and I'm certain these low resistance tyres are sufficient for any spirited driving on normal roads. Power is a bit lacking and I hope it had the power-optimized FKS version instead of the FXS. It definitely feels underpowered if you are used to the 2GR V6. Also the hybrid system is a bit lazy in giving electric boost, it comes on instantly but not in a fierce manner I would expect from a hybrid. It almost gives an impression it's slower than a Corolla Hybrid, which has a very aggressive boost deployment strategy, in the city. But I guess that's the compromise to make acceleration less jerky.