The ES, no question. I drove the X Type extensively before I got mine and its a rattletrap of a car, small, uncomfortable, cheap materials.
the X-type is just a ford taurus with a different grill and leather :P
on another note the RL has SH-AWD which can not be found on another car (i think...) besides the RDX.
you cant spin that car out! its cool! but not at the same time because its no fun!