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Not sure if this helps, but my '96 ES stock CD changer could play CD-RWs with no problems. Doesn't hurt to try one out for your '97, and if you get a disc loading error show up on the audio display, then there's your answer...
Both my '94 and '03 ES's played CD-R/CD-RW discs without any problems. Make sure you don't have paper labels on them though since that could possibly jam the mechanism.