Coming from a 2019 Avalon Limited, I'll chime in with my actual ownership findings.
Some of the positives:
Aside from the 340 HP, is the Active Cornering Assist feature of the suspension system. Taking a curve at speed feels more controlled.
The seating tends to feel more captive like in a sports car seat, not as flat as the Avalon. This may not be everyone's choice but I like it.
I like the added height, it's more like entering an suv.
USB charging ports are now USB3.0.
The Qi charging actually works on my phone.
The large 12.3" infotainment screen and not being forced to divide it into 2 or 3 windows.
Rain sensing wipers.
The center console opens from either side.
The auto parking, either parallel, straight, or angled. Just touch the auto park button and pick the space on the infotainment screen.
Some of the negatives:
Steering wheel tilt and telescoping is not powered like the Avalon. This is a "set it and forget it" for me anyway.
No Heads Up Display, also not a must have for me.
The infotainment system, you have options to turn on and off features but defaults must be made in the Toyota app. Setting North to always be up is not a default option currently. I don't like to see the screen rotate with every turn I make. You have to manually set it each time you restart the car.
Android Auto is confusing to me. I like it but the audio likes to default to some weird podcast about the spice "paprika" at startup. I don't have any podcasts set on my phone. I thought I had found a setting in AA to turn that off but no dice. Any advice is welcome.
The transmission shifter is on the console and does not have physical positions for park, drive, reverse, etc. The shifter is just pushed forward or backward to change. Park is a button press. This is all fine by me but you push it forward for reverse and pull it back for drive (I feel that's backwards).
I'm on the fence about the new cloud navigation system. It has some very desirable features (like "real time" map updates, traffic, & road construction) but is a subscription service. I've got 12 months to decide to keep it or not.
There's more likes and dislikes but I gotta run. Will edit later.