I drove the TL before I drove the ES350.
Just my opionions
I disliked the TL because it seems like every single function of the Audio system, HVAC and Navigation have their own button the dashboard and/or the steering wheel. I thought it was incredible busy looking and gimmicky plus took too much time to sort through while driving it.
Unfortunately for Acura, I am one of the few who didn't mind the new styling, especially in the dark greyish brown color. However, the unit they pulled for the test drive shook so bad the salesman had to take it straight into the shop after I drove it. the test drive didn't really make the best first impression. My first drive in an ES350 was during an incredible thunderstorm and I still loved it.
I saw the MKS in the showroom; I thought they did a nice job on the dash and front row but the back seat was cramped and somehow they made it incredibly cheal looking.
In hindsight, the ES still does it for me.