First time posting here, as well. I'm also searching for a Lexus that suits my needs and budget. Although I don't have any physical limitations, I would like a mid-sized luxury SUV that is not fatiguing to drive. Years ago I owned an ES for a short period of time but sold it off. It had a front end that seemed very heavy to drive and was not a fun experience.
Does anyone have any thoughts on this and how the RX drives?

 

Well, the RX is certainly a mid-sized luxury SUV, but whether or not it suits you would be up to you after taking a test drive. I like my 2017 RX350, but I wouldn't take it on a fast, winding mountain road. While I've never driven any of the BMW SUVS, my impression is that they are much better handling than the Lexus.
Maybe pick up an April Consumer Reports magazine. They have lots of information and driving impressions of pretty much all of them.

 

RX for highway cruising. FPace perhaps if you plan to wear a helmet😁

 

I think you should look at the Infinity QX50 or 60, or the Larger Lexus, I have a regular sized Labrador and while she fits back there, she doesn't love it and both of yours are way bigger and times two! (unless you are going to keep the seats down and not put anyone else in the back!
The Jaguar is like a soda can, not good at all! The Audi is a good choice also. Can you tell I am not loving my RX350 that I just got? :-(

 

The LS is the smoothest, quietest of all Lexi.
But Americans today have to have their SUV's.