Well, the ES350 is basically a Camry. One with a longer wheelbase and a (much) nicer interior. Just as the Hyundai Azera is a bigger, more luxurious Sonata.
The LS has always been a great car. In terms of driving dynamics... who cares about driving dynamics in a limousine? All the focus on "driving dynamics" does is make cars less comfortable on the road.
But in terms of dynamics, the IS is now the match of the 3-series in almost every way, and is cheaper. Don't know about the GS, yet. There's still something about German cars... well... some of them... but when you're paying that much less for something that is already pretty nice... and pretty reliable... who cares about the extra snob appeal?