Yes, I agree the new Avalon is definitely a beautiful, luxurious car...but it's aimed at a different audience than the Lexus ES, hence the ride difference. The Avalon demographics are an older group; Toyota's attempt to steal clients from the Buick drivers (and it worked!). The ES is still luxurious, but sportier, and a little smaller, aimed at a slightly wider range of age ranges. Both are fabulous cars though.
I heard a nasty rumor that the Avalon is being discontinued; anyone else hear that?