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I am not sure what model year you are talking about. Also, are you referring to the Hybrid?

In the regular gas models for 2019, I believe they are very similar. Same platform, drivetrain, etc. The Lexus "may" have the very similar engine tuned with a few more HP running with premium gas, I am not sure.
 

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Back in 2015, i test drove Avalon Limited & Lexus ES 350 and truly speaking everything in the lexus felt nicer & luxurious! The ride was the deciding factor for me...It drove very smooth & you could hardly tell you are doing 75+ on the freeway in secs...
 

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It’s same motor, suspension, and architecture(frame). There might be slightly more bracing or stiffness added to the Lexus frame. More sound deadening too, primarily in the trunk area. Aside from interior dash design, it’s anout equal all things considered. At least for my $10k left over.
 
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