As you are probably already aware there is there is vitually no torque steer in the ES350, as a matter of fact I have tried to do it and cant. I agree with the other posters, this is a fine car in the snow, the computer does a lot to help the car with VSC etc. I live in Denver and if you have been watching the news over the last few weeks you know whats happening here, snowing again today and absolutely no issues driving in with my ES. I would say this is one of the best cars I have ever driven in the snow. And contrary to what is posted here there is no issue stopping, I had to lock it up today and stopped well before I thought I would. When I drove out of the neighborhood today the snow was deep enough I scaped it all the way out, pushed some with the bumper too.
As far as hesitation if it is slippery the computer takes over and there is hesitation when you start from a stop, but you have to be aware of that, and it does it so that you wont slide or slip, it works well in my opinion. You can put the car in manual mode and you will have more control over this. I believe you can also turn off VSC and Trac but not sure. Ultimately they didnt build this as a 4WD or Truck or race car and you have to get used to driving it, its a lot different than my Sequoia or Tundra. But heck I also drive 89 T-Bird SC in the snow....and thats a sled.