the ES300 of the same years (camry 92-96 & ES 92-96) the seats will swap, i have back seat from an ES in my camry right now, and it looks HOT!!! im sure front seats would swap just fine too, as im sure the brackets are the same, the seats would fit right in, the only thing i can think of there is that there may be extra wires on the ES's that aren't on the Camry's, (heated seats, electric, etc.).
hope this helps in some way, a lot is swappable, but like chronti said, you'll have to do almost everything if you do one, cause it will look off, and line won't match up! i like it cause the ES had the black leather option whereas the camry didn't :thumbup: