This ES 350 is a midsize car, but its wheelbase is full-size, which translates into rear-seat room. We think this ES 350 may have the most comfortable cabin in its class, thanks to attention to detail. It handles well with nicely weighted steering, and it rides well on a suspension that's soft without being floaty. The Insurance Institute for Highway Safety gives it five stars overall in crash protection, and four stars for frontal impact. But they still give it a Top Safety Pick+ award because of the standard automatic emergency braking system.