The Lexus ES used to be based on the Toyota Camry. That changed starting with the 2013 model year when the ES grew in size and thereafter had more in common with the full-size Toyota Avalon than it did the midsize Camry.

Still, some people want to know whether or not it’s worthwhile to upgrade from a Toyota Camry Hybrid to a Lexus ES Hybrid. There is a price difference. The top Camry Hybrid in XLE trim and loaded with lots of extras will cost about $2,000 less than a Lexus ES 300h in its standard specification.
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https://www.autotrader.com/comparisons/lexus-es-hybrid-vs-toyota-camry-hybrid-whats-the-difference