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I can only comment on the Lexus, having had one until recently. Very comfy, very well made. less space inside than you would imagine from its 17 foot length. Small boot, as Hybrid battery lives back there. No good for 5 people, its got 4 proper seats, but the rear isnt really set up for 3. Upto 44 mpg on a run, rather less around town. Totally reliable, and covered by the usual Lexus 10 year warranty. Excellent sound system, quite possibly the best standard fit system. Mine didnt self park, maybe the top model has this?, but lots of sensors and cameras so its easy. Slightly odd drive as the hybrid system uses a 4 speed auto box, and a CVT replaces the torque converter. Lexus say it behaves like a 10 speed auto, it doesnt, as it has some real, and some fake gear changes, but drive it smoothly and its very refined, if you want to drive it hard, you probably want a different car.
I wouldnt want to own a BMW or Mercedes out of warranty, but the Lexus i wouldnt fear, however keep it serviced in the network, and the warranty is 10 years (although i doubt you would need to claim on it)
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