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My old man has had MBs since 1978, he admits that Lexus cars are "smoother"
If a smoother car is a buyers priority than the Lexus is the better car. For me reliability and smoothness doesn't always make it a better car. There are a lot of other factors that I value higher. My priorities are different than other car buyers priorities who may choose a different car. I buy Lexus for a certain reason. I have my BMW for another reason. I have never owned a Mercedes, although some of the ones I mentioned are ones I would love to own.
Who makes the better car? can't say because you will come up with different answered based on what criteria your are judging the cars on. Nobody makes a perfect car IMHO. All consumer cars are a compromise.