So you won't buy a Toyota...err Lexus, but you have no problem with a Volkswagen...err Audi. That's quite sad.

My picks:

Near Luxury:
1. Audi A4.
2. BMW 3 Series.
3. Mercedes C Class.

Mid-Luxury:
1. Jaguar XF
2. BMW 5 Series
3. Lexus GS

Premium Luxury:
1. Mercedes S Class. Simply a stunningly perfect execution of the class.
2. Lexus LS. While it may lack the design of the Mercedes, it is truly Lexus' best vehicle, and easily one of the best in the class.
3. BMW 7 Series. The current one is still a looker in my opinion, and while the new one seems to take cues from the LS, definitely enhances them in a much more attractive package.

I think some of you are simply way too loyal to your brands.

Lexus is a great brand, however I really wish they'd step it up when it comes to design. The GS is really the only one of their vehicles that makes me turn my head. The LS/ES/IS are far to unoffensive, and merely blend in with regular sedans. I'm really hoping that their redesigns initiate a design language that stays with Lexus for more than 5 years, and is not an imitation of another brand. I love how Audi, Mercedes, Cadillac, and BMW distinguish their cars from everyone else's. You can tell a BMW is a BMW, even if you've never seen one before. That is something Lexus truly needs to learn.
In addition, having both the ES/GS is a little ridiculous. I'd like the GS take on a more CLS/4doorcoupe design, in order for it to distinguish itself from the ES (Which needs to distinguish itself from the Camry).
I really love Audi, and I love the uniformity of their entire line-up, however, I feel that their execution of their grill on each car makes it harder for the cars to stand out. I'll be honest, from a head on view, I find it difficult to distinguish an A4/A6.

Mercedes and BMW, there is truly nothing to say. They represent excellence in every vehicle. Jaguar too is on the rise back to such an echelon. Lexus has a little more work to do before they can truly be called rivals to MB/BMW/Audi.