I sure can, sorry it took me so long its been crazy town around here.
My GS is a Luxury AWD model with the AVS suspension. I had a 2010 ES before it, and actually had a 2012 ES as a loaner not long ago and it was interesting to get back into that car after having been in the GS for 4 months.
I greatly prefer the way the GS rides. The ES is more softly sprung, theres no question about that. At low speeds say pulling out of the garage or going over speed bumps, you can tell that the GS is definitely a stiffer car. The GS however has a much more sophisticated suspension setup, and it glides down the road in a much more solid, stable way, in a way that reminds me a lot of the LS actually. It has a premium heft to it that the ES does not have. It rides beautifully, yet its much flatter in turns and when you put it into Sport S+ mode it really turns into another animal.
In terms of noise, the GS is very quiet (be sure to get the Michelin tires, not the Dunlops), and wind noise is very hushed, very similar to the ES. The GS luxury model does have double paned acoustic glass like the LS does, which helps make it quieter. Big difference is the engine note. The ES is engineered to be nearly silent, where the GS actually has an intake sound generator that gives it an audible very deep intake growl when you really get on the throttle. I go back and forth on that, you really don't hear it unless you get heavy on the throttle, but its different than the ES.
Hope that helps. I will never own an ES again now that I have this GS. All in all the solidity, the premium feel, the quality of materials are all a big step up from the ES.