The best replacement for es350 is avalon.

The best alternatives to es350 are rated as following:
★★★★★  avalon
★★★★★  gs350
★★★  toyota avalon
★★★  tl
★★  acura tl
★★  m35
★  is350
★  infiniti g37
★  is250
★  2011 es350
  gs350 lexus

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es350
avalon
gs350