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I've decided that i will probably buy preowned. While i can buy a new ES my back likes the GS seats. If you get blindspot with the ES cross traffic is there, not so with RX and GS through '15, blind spot only. It can be maddening and one has to wonder what Lexus is thinking. At least now I get it. I really like cross traffic, I think it is a very useful option.
GS for 2013 had BSM wo/RCTA but both 14 & 15 have both. You are however completely correct
as the various Chief Engineers have divergent priorities. Staying with the BSM thread, the simple
on/off function is located: 1) on the lower left panel with Park Assist on ES, 2) buried in a sub-menu
on the right steering wheel spoke along with PA on GX, 3) on the wheel spoke with 2nd gear start
on RX (BSM is back on the left panel...)