My wife had a 2018 GS350 F Sport. Amazing vehicle but with our family growing, the backseat didn't make sense. We traded it for a 2020 ES350 F Sport and while the difference in the vehicles is there, it is negligible. Lexus increased the fit and finish of the ES for this gen and its "close" to the GS. Only thing that's evident is the lack of RWD. We have AVS on our ES and it's a must if coming from the GS. ES's without the AVS, felt flat. We test drove the Camry as well and it did not fell the same as the ES.

 

Growing family and you didn't want an RX?

 

No, it's our first kid, my wife prefers sedans and we already own a GMC Yukon. The backseat in the ES is cavernous. I'm 6ft 3 and fit comfortably back there and there is ample space behind me when I'm in the front seat.

 

Yep it's supper comfy back there. Good luck with the baby!