I have a 4 month old ES330. I'll admint the shifting at slow speeds (10-25MPH) was hard to get used to, but I haven't noticed it in quite a long time. I guess its like they said earlier... you get used to it and subconciously work around it.
Although it has plenty of power for me (I'm an old !Removed! at 40), it is by no means a sports car. If you want a super-quiet, classy car, this is it. Everyione who gets in compliments the trim, the quietness of the ride, the nav system, the seats, and a lot of other things.
So... If it is for your dad, I would definately recommend it as it is a very 'professional' looking classy car. Not too flashy or brazen (like an H2 or a boxy Caddy), just a good quality vehicle that you can drive with pride.