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Or as far as I can tell any phone in any type of case.
This is disappointing to hear. Lexus must have made substantial changes to their chargers because that is simply not the case in my 2016 NX. I use an inexpensive holster case and I do remove the holster, but otherwise it charges just fine. I have a hard time imagining that it wouldn’t charge through the case on the ES but I don’t own one (yet) so I cannot confirm this.
One can also find articles to support whatever position they want. The bottom line is the arguments against wireless charging are inconclusive and mostly based on the fact that it is relatively new.