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The electronics in these cars is extremely complicated. The ML audio has outputs for more speakers and a different subwoofer. Don't know about a replacement nav unit. If your system is toast I'd go look for a one to one replacement in a salvage yard. Should be plenty around by this point. GOOD LUCK!
I agree with bc6152 probably best off to get a junk yard unit. Another option is to check aftermarket as it can provide android auto and apple car play.
Its not very often you see a Head Unit go bad in the ES350. I've seen a few but not many posted. I would try to deep diagnose 1st. I've seen quite a few on CL get another head unit then have the same problem not resolving it.
What is the unit doing an/or not doing? Also there is a Lexus Radio Guru in the IS Forum who helps out everyone with our Lexus systems, and he usually can tell you what's wrong. There is also a diagnostic test mode you can put the unit in to tell some things. Just saying this so you don't get a replacement, and still have the same problem.