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Depending on the manufacture date (If it's less than 10 years ago) it may still be covered for free replacement.
I thought it ended last year regardless? Plus they will only replace if it is showing issues, it might take that car 6 years to do so at that low of miles since that's roughly when most others started to have it.
The current ES350 is just as big and pretty much as comfortable as the LS. A lot less expensive and gets much better gas mileage. Its a great car for long road trips. I prefer the LS but its not perfect by any means. If I had the choice of a new ES vs a used LS, I'd probably go for the ES.
Just an alternate consideration.
This is wrong. The ES doesn't get much better gas mileage. I drive very conservatively and I get 28-29 on the highway. The LS is within a couple mpg. It's also not as big and because it's not as big, it's not as comfortable.