The 07+ ES is a very good riding car. Not sure why the Camry is so much firmer, but it is I've driven them both.
I'm not sure why you assume I haven't driven both. I've owned a few Camrys and I have been on several ES300/330 test drives. I also drove a 2005 Honda Accord V6 for a year or so, and when I rode in my friend's 2005-ish Acura TL, the resemblance was uncanny! I had the same feeling driving those Lexus ES sedans!
Do you really think it's just coincidence that the 2003 ES300 and the 2005 Camry V6 have the exact same wheelbase length, front track width, rear track width, engine (1MZ-FE), 5 speed automatic transmission, suspension configuration, etc.?? The list goes on and on! This is a PRIME example of Toyota being smart and just throwing a new interior, more sound deadening and a few extra amenities and safety features onto a car and fooling the vast majority of people into thinking it is a unique car. Honda does the same thing, and GM and Ford have made a ton of money out of this!
I don't see why you're so offended--a Camry is a pretty damn good car. A Camry with a tux on is even better. ;)
I'm really not trying to offend you, I'm just telling it like it is.