The Toyota Avalon and the Lexus ES are both all-new for 2019. The Avalon has traditionally been a nicer, larger, slightly more expensive alternative to the Toyota Camry. The ES used to be built on the same platform as the Camry, but it moved over to the Avalon platform with the introduction of the sixth-generation model for 2013. As both the Avalon and the ES are now comfortable, front-wheel-drive sedans built on the same platform and sharing the same powertrains, it isn’t out of the question for potential buyers to cross-shop them.
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https://www.autotrader.com/car-review/2019-lexus-es-350-vs-2019-toyota-avalon-whats-diff-281474979913558