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The RX, ES and CT all ride on a version of Toyota's MC platform that underpins everything from the Camry and Venza to the Corolla, Prius and RAV4. Now, only the ES rides on the exact same derivative platform of MC as the Camry. The RX and CT are technically "unique", but that's because of their powertrain, not the actual platform. Toyota names a new platform everytime they change the powertrain family. For instance, the RX and Highlander used to be on the same "GSU (2GR)" platform. The Highlander still uses that, but the RX is now on the "GGL (2GR-FE)" with the hybrid being "GYL (2GR-FXE)". Underneath they are still the same, but they now use different powertrain families "2GR-FE" or "2GR-FXE" vs. "2GR".
The Lexus GX and LX are also direct siblings to the Landcruiser and Sequoia and ride on the exact same platform.
In terms of similar cars...
ES = Camry
RX = Highlander
CT = Prius
GX and LX = Landcruiser
IS, GS and LS = No similar Toyota brand car in US and all ride on unique platforms.
I would say Lexus for quality but something that bothers me about the brand is it the cars seem a bit feminine. They need to make some models more manly looking. The G35 is more of a car that I would drive based on appearance.
Acura is in a completely different league from Lexus and Infiniti. Out of three tiers of luxury (1st = exotic, 2nd = upmarket, 3rd = entry), I would argue Lexus is clearly 2nd tier and Infiniti straddles the line between 2nd and 3rd tier. Acura is solidly 3rd, competing with Lincoln, Hyundai, Buick, etc.
By those metrics alone, it's between Lexus and Infiniti. If I had to choose between the two, I would probably choose Infiniti over Lexus for personal reasons. I'm not a fan of Lexus's spindle grille styling, and I feel like they are struggling to find a direction after years of being ribbed by automotive media as too conservative. I preferred the conservative Lexus look. The new styling seems like they threw ideas at a wall to see what would get them noticed.
I also think Infiniti has taken a wrong turn lately with its front end styling. The gaping maw from the Essence concept has translated into a melted look on the new Q50. Everything from the A-pillar back looks great, but the front end looks like they tried too hard to create a new face for the brand.
I get the feeling that all three brands are in a sort of mid-life crisis. They all started with conservative styling and sold well by bringing a fresh take on luxury in the late 80's and early 90's. For 20 years they gained market share and surpassed old luxury like Lincoln and Cadillac in perception. But ever since the late 2000's, Infiniti and Acura have begun to struggle with sales, and while Lexus has maintained its market share it has struggled with its own identity. A re-emerging Cadillac and a steamrolling Audi are beginning to shake up the luxury market once again.
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