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If you think the IS is cramped, I would say go for the ES. I find the size of the IS to be tight, but I would say it's more form-fitted for my taste - it's not airy or open by any means. If you don't see it this way then don't make yourself live with the smaller size on a daily basis. You will appreciate the more spacious interior of the ES. I sat in one at the dealership, and it's pretty darn comfy.
My IS felt small when I first got it but in no time at all I got used to it and it didn't feel uncomfortably tight at all. I even took a road trip with 4 adults and we were all fine.
It's depend on what you want the car for. Like most already said, the 3 cars has 3 different purposes. The ES if you want space and comfortable ride. It's also depend on how long you want to keep the car. Let said money is not a real factor.
At 30 and marriage is on the way with no kids in mind for a while, then the RC or the IS. I test drove the RC before getting the IS and I didn't like it as much as my Supra (mainly because there is no manual trans). In the driver seat, both RC and IS is very tight compare to the Supra.
If you want kids and fun then go with the IS, but reality will kick in the moment you put in the 2nd infant car seat.
The ES if you want a relax and enjoyable smooth ride and offer little more kids friendly car seat .
Toyota and Lexus Join Mille Miglia For The First Time
Slideshow: A five-car lineup spanning more than five decades of Toyota performance and engineering will tackle one of Italy's most celebrated automotive routes.