Thanks guys for the in put, although I adore the "Lexus" experience and look forward to having my car serviced by them, I also don't like throwing away money away either. I will go to Discount Tire, I had several good experiences with them and the are all over Houston
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I worry about getting my wheels scratched during tire mounting and balancing. If my dealer scratches it, I will ask for a new wheel, can't do that at a cheaper tire shop. So, there are two options for me: ask the dealer to match price, or watch the cheap tire shop technician to make sure he does not mishandle it. If I already got curb rash, then I wouldn't care.
Thanks guys for the comments, they really helped me when it came to choosing my tires, I went with the Michelin Primacys. I went to Louisiana the day after I got my tires, the ride was quiet and smooth, I'm very happy. I got them at Discount Tire, I was worried that they may scratch the rims, but they didn't. I also got the road hazzard too, driving in Houston, anything can damage a tire.
"V" rated tires are not necessary on an ES350. It's a speed rating. V rated tires are good for up to 149 MPH. An H rated tire is just fine, they're good up to 130MPH. I doubt if any of you have driven that fast. The ES350 comes with a V rated tire from the factory because the NHTSA says a tire mounted on a new car must be capable of performing at the top speed the vehicle they are installed on. An ES can go faster than 130MPH, hence the V rated tire.
See this thread for tire recommendations and a discussion of V vs H ratings: