Speak to SW03ES......he's the master concerning this problem. :D
My '03 ES is painted Millenium Silver and I find the paint on this car is pretty durable. I'm not saying it's impervious to chips, but it's as good if not better then the past Lexus's I've owned.
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I agree with amf, SW is the czar in this department. I've also experenced similar problems with my 01 ES.....not major mind you, but annoying & also have the car paint sealed & professionally detailed yearly. ;)