I’d probably venture to guess that the hesitation has more to do with the transmission and how it is programmed to cohesively perform with the engine.

I owned a LS460, which of course had the V8, but the LS460 was also known for hesitation issues. It seemed to have a mind if it’s own in that department...sometimes it’d happen, sometimes it wouldn’t, but more often than not it would. I’d still rather have the V8 over a V6 turbo, simply because of longterm reliability, but there are many V6 turbo engines out there that go like hell and quickly accelerate.

When I sold my LS I bought a new pickup (2018 Silverado with the V8)...that thing would take right off when you floored it, but I sold it because it was a piece of junk. I then bought a used 2016 Toyota Avalon with the 3.5 V6 (same as the ES350)...that thing explodes off the line when you mash the gas pedal, but it looses a little steam compared the V8’s after. But when you step on that thing it goes...it’s sudden, it’s smooth, but without turbos or a V8, it doesn’t have the pure power to keep up with upper end vehicles.