What you are describing is a product of RWD or AWD architecture. It has everything to do with the balance, weight, control and general feel of the car. Not so much in a straight line, but in instances like highway on/off ramps, or traffic circles, mountain roads or aggressive driving. Segmenting the drive wheels from the steering gives the car a feeling of stability and balance which translates to a more luxurious driving experience. While the interior and refinement of the ES350 is top notch, it will always be considered as a pseudo luxury vehicle, because of the FWD platform it sits on.