I really like using Waze and use it instead of the Nav on my 2020 ES350. But wondering if anyone has compared Waze with the ES's system?

In my experience, the current Lexus NAV system ('24 ES) and the Google Maps NAV app and Waze all give pretty much the same route information, and seem to be based on a fairly current assessment of traffic. The big difference is in the interfaces. Often I find the WAZE maps easy to read at a glance, but the Lexus NAV is better in showing the detail of upcoming turns. Also, only the Lexus NAV, as far as I can tell, puts the NAV info up onto the HUD, which is often a big advantage, especially when driving through congested city centers.
And, of course, the Google satellite view, although often distracting, is a lot of fun.

I have used both simultaneously. Waze is more up to date with new roads and recent highway construction. In addition, with CarPlay, I have the option of using Google Maps which I actually prefer for directions although Waze does give out recommended route detours, Police presence (sometimes), RR crossings, speed zones, etc. Using CarPlay this way negates the need for Lexus GPS maps updates. A downside is that as soon as you tether the iPhone in for CarPlay you lose the ability to listen to music from your USB devices.

I also use a dual channel dashcam that has GPS and warns me about fixed photoradar and frequent mobile photoradar locations.

WAZE alerts for police are often incorrect because the po-po seldom stay in one place on the side of the road for long, and a new arrival does not show up in Waze for a while until enough people tag the location, which is often too late for you. Having a radar detector on the highway is much more effective.

The counter argument is that a false positive is better than a false negative. Personally I have found that the Waze alerts are accurate more often than inaccurate. Having said that I do not rely on them except as an aid and and then only on long drives. I generally don’t speed enough to get a ticket anyway and not enough to have a radar detector. If it’s your habit to cruise the interstates at 80+ then I can understand the use of a radar detector. And…Waze does more than just alert for police presence.

I've never used Waze but Google maps also alerts to police presence, and with similar results - ie sometimes it'll warn you of police but they aren't there anymore. Google does not do a good job of suggesting alternate routes in real time heavy traffic, like I've heard Waze does well.
Because I have to plug a usb cord in to use Carplay I only use Google maps for long trips. When driving local I just ask the Lexus dashboard lady for directions, and they are more than adequate.

I get Nav info in the HUD using Apple Maps and CarPlay.

2025 300H UL

Thanks. Is the 2020 ES NAV the current one?

Are you sure you aren't simultaneously running route guidance from the Lexus Cloud Navigation system and route guidance from Apple CarPlay's Apple Maps ?

See my How to Get HUD Navigation Display with Android and Google Maps ? post #19 for my speculation that that's how one might seemingly get Apple CarPlay's Apple Maps route guidance displayed on the HUD. In the same thread, Cut-Throat's post #22 confirmed that was exactly how he was seemingly getting HUD route guidance from the Android Auto map application.

My understanding is that Google bought Waze a couple of years ago and adopted the crowd source feature.
Pretty sure they don't share so alerts in one do not appear in the other. Apple Maps now also has a reporting icon.

No, I never use the Lexus Nav. With Apple Maps I get turn directions when I get within about 2 miles from a turn.

It's not just me. See this thread - GX Forum

2019–2022 ES models use the older, in-house Lexus navigation system. It’s functional but slow and outdated, it will get you from point A to B if you kinda already know where you’re going. I’d rate it about 6/10. The benefit is that it’s the only option that supports turn-by-turn directions in both the HUD and the gauge cluster. Navigation through Apple CarPlay or Android Auto will not display turn-by-turn in those locations on these models.

2023+ ES models switched to the new Lexus Interface system powered by Google Maps. It’s faster, more intuitive, and overall a much better navigation experience, around 8/10. If you opt to use your phone app, Apple Maps does show turn-by-turn directions on the HUD and the gauge cluster when using CarPlay. I’m not fully certain about Google Maps or Waze.

In general, using Waze (or Apple Maps/Google Maps) via CarPlay or Android Auto will provide the best real-world navigation for traffic and routing than built-in Lexus navigation system.

Thanks. Does the 2019-2022 ES NAV use real-time traffic?

That isn't correct. The map data is still sourced from HERE; same map data source as the 2019 through 2022 Lexus Dynamic Navigation system uses. (See the "Map data" section in the "9-1. Appendix" subchapter of the 2023 (or later) LEXUS ES250, ES300H, ES350 (NAVIGATION AND) MULTIMEDIA OWNER'S MANUAL.)

That said, the 2023 and later model years' Drive Connect Cloud Navigation system does use Google Points of Interest (POI) for the system POI information data, but that's the only thing that's "powered by Google".

Mine is 2020 and all you have to do is try Lexus nav when it is important and you will never use it again. Newer cars I have heard are much better.