As the full-size sedan ranks continue to shrink, the Lexus ES faces a different competitive set annually.
Don’t forget about the Toyota Avalon, which offers Lexus-lite features at Lexus-lite pricing.
The Volvo S90 has been around for a few years, though its sleek, sedate design still charms.
The Jaguar XF is a class above but is often discounted, and it’s a good choice if you can get past its so-so infotainment and occasional rough edge.
VW’s Arteon is new to the segment, and while it’s more of an aspirational choice than the others, it’s a decent value and can be had with all-wheel drive.
The Acura RLX is a rare, high-tech sight.
You won’t see another in your office parking lot.
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 2021 Lexus ES#7 in Luxury Mid-Size Cars Get Your Price |  2021 Toyota Avalon#3 in Mid-Size Cars Get Your Price |  2021 Volkswagen Arteon |  2021 Volvo S90Get Your Price |  2020 Acura RLX#18 in Luxury Mid-Size Cars Get Your Price |  2020 Jaguar XF#4 in Wagons Get Your Price |
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| Quick Specs | |||||
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The 2021 Lexus ES grabs some of the LS’ spotlight with its sleek shape and its sky-high hybrid economy. |
The 2021 Toyota Avalon lives its best life as a luxury-car companion. |
The 2020 Acura RLX’s familiar shape hides a forward-thinking powertrain. |
Especially in wagon form, the 2020 Jaguar XF is an appealing luxury car for those of us not totally sold on SUVs. | ||
| MSRP From | |||||
| $39,900 | $35,875 | $36,995 | $51,550 | $54,900 | $51,100 |
| Gas Mileage | |||||
| 22 MPG City / 44 MPG Hwy | 21 MPG City / 44 MPG Hwy | 20 MPG City / 32 MPG Hwy | 21 MPG City / 32 MPG Hwy | 20 MPG City / 29 MPG Hwy | 18 MPG City / 34 MPG Hwy |
| Engine | |||||
| Regular Unleaded V-6 | Regular Unleaded I-4 | Intercooled Turbo Premium Unleaded I-4 | Turbo/Supercharger Premium Unleaded I-4 | Premium Unleaded V-6 | Intercooled Turbo Premium Unleaded I-4 |
| EPA Class | |||||
| Mid-Size Cars | Mid-Size Cars | Large Cars | Mid-Size Cars | Mid-Size Cars | Mid-Size Cars |
| Style Name | |||||
| ES 350 FWD | XLE AWD (Natl) | SE FWD | T6 AWD Momentum | Sedan w/Technology Pkg | Sedan 25t Premium RWD |
| Drivetrain | |||||
| Front Wheel Drive | All Wheel | Front Wheel Drive | All Wheel | Front Wheel Drive | Rear Wheel Drive |
| Passenger Capacity | |||||
| 5 | 5 | 5 | 5 | 5 | 5 |
| Passenger Doors | |||||
| N/A | N/A | N/A | N/A | N/A | N/A |
| Body Style | |||||
| Sedan | Sedan | Sedan | Sedan | Sedan | Sedan |
| Transmission | |||||
| Automatic w/OD | Automatic w/OD | Automatic w/OD | Automatic w/OD | Automatic w/OD | Automatic w/OD |
| Detailed Spec Comparison | |||||
| 2021 Lexus ES vs. 2021 Toyota Avalon | 2021 Lexus ES vs. 2021 Volkswagen Arteon | 2021 Lexus ES vs. 2021 Volvo S90 | 2021 Lexus ES vs. 2020 Acura RLX | 2021 Lexus ES vs. 2020 Jaguar XF | |
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