Just purchased my 2003 ES 300 in January 2013 - like new w/ only 80,000 miles on it. I have to say it is the smoothest riding car I have ever driven or ridden in - it's also a quieter ride, as well.
I bought my 2002 ES300 in 2004 and have driven it daily. At the time it had only 28,000 miles on it. I have not had to do anything to this awesome vehicle besides regular maintenance (oil changes, ...