How do I tell if I have AFS installed on my 2016 ES 350

 

If you are talking about adaptive lighting when cornering/turning, the answer is no. It is neither standard or an option on the Generation 6 ES.

 

Lexus' Intelligent Adaptive Front Lighting System, as fitted to a Lexus, is a driver-aid that adjusts the direction of the headlights in response to steering inputs and vehicle speed, in effect pointing the low-beam headlights into the corner and improving your view. As stated above, no it is not an option on any 6th generation ES.