I've heard many complaints about es350 vibration, even in recent models. Mine was and remains no exception. Unfortunately wheel balance is NOT the issue in my case.
It's a 2011 at 32k kilometers (20k miles very approximately), on the THIRD set of tires. 2 sets of Michelins: the original factory set; a dealer set (more than slightly used) and finally some Coopers which I paid for myself, out of desperation to try to solve the vibration problem. The second set (Michelins) were, as it turns out, used and had flat spots. No wonder they were so bad!
Fed up, I replaced the Michelins with brand new Coopers (US made), which were much smoother.
But here's the deal: now I have decent tires, road-force balanced by Lexus, there is a noticeable engine vib at 70 mph and up. It's a vibration that will be familiar to anyone who's driven a 6 cylinder car where one of the cylinders is not fully firing. Very slight, but noticeable with the application of a little throttle at 70 and up.
Car's smooth as silk below 65 but not very nice above.
For me, this feels electrical, but that can't be, because there's no engine light.
I suspect that Lexus's engine vibration control (which is electrical) may contain a design flaw, or there's not quite enough not working to trip the engine light. Try to get Lexus to diagnose THAT?
It's not going to happen.\
And, oh, my old 1999 es was smooth as silk to 100 mph. Not the 2011. So drive at 70 and up, but only with an unpleasant albeit faint engine vibration.