2021 Mercedes-Benz S-Class vs 2021 Lexus ES

The 2021 Mercedes-Benz S-Class retained a familiar exterior design, but with significant aerodynamic improvements, boasting a drag coefficient of 0.22. It was slightly larger than its predecessor, with a longer wheelbase and increased height and width. The car's size was imposing, complemented by the classic Mercedes hood ornament and grille. Standard 19-inch wheels could be upgraded to 20-inch or 21-inch options, with the 20-inch wheels filling the wheel wells nicely.

Inside, the S-Class focused on a minimalist design centered around the infotainment touchscreen and digital instrument cluster. Mercedes eliminated the rotary controller and opted for rectangular air vents, creating a decluttered cabin. The interior featured extensive ambient lighting with 250 LED elements and 64 color options. High-quality materials like Nappa leather, open-pore wood trim, and aluminum inlays were standard, though the piano-black trim was prone to smudging and reflections.

The 2021 Lexus ES expanded its lineup with the new ES 250 series, featuring a 2.5-liter four-cylinder engine and standard all-wheel drive, priced similarly to the ES 350 with a 3.5-liter V6 and front-wheel drive. The ES 300h hybrid variant offered improved fuel economy. Blind-spot monitoring and rear cross-traffic alert became standard on most trims, and a limited-production Black Line Special Edition was introduced.

The ES 350 F Sport Black Line Special Edition featured unique styling elements, including 19-inch wheels, a rear spoiler, and a black and white interior. The car's design was striking, with a dramatic grille and appealing F Sport trim. The interior offered a black and white contrast, high-quality materials, and a comfortable seating arrangement. The ES shared a platform with the Toyota Avalon but maintained a distinct Lexus identity.

The 2021 Mercedes-Benz S-Class offered two engine options: the S500 4Matic with a 3.0-liter turbocharged inline-six producing 429 horsepower and 384 pound-feet of torque, and the S580 4Matic with a 4.0-liter twin-turbo V8 generating 496 horsepower and 516 pound-feet of torque. Both engines featured EQ Boost, a mild-hybrid system adding 21 horsepower and 184 pound-feet of torque for short bursts. The S500 accelerated from 0 to 60 mph in 4.8 seconds, while the S580 did it in 4.4 seconds, with top speeds electronically limited to 130 mph.

The S-Class came with standard air suspension and an optional E-Active Body Control suspension system. Rear-wheel steering, a first for the S-Class, improved maneuverability. The S580 provided a fast and comfortable ride, with precise steering and minimal body roll in Sport and Sport+ modes. However, there was noticeable wind noise at highway speeds.

The 2021 Lexus ES 350 featured a 3.5-liter V6 engine producing 302 horsepower and 267 pound-feet of torque, paired with an eight-speed automatic transmission. The ES 350 accelerated to 60 mph in 6.6 seconds, with an EPA fuel economy rating of 25 mpg combined. During testing, it averaged 22.9 mpg.

The ES 350 F Sport, equipped with an adaptive damping suspension, offered Sport+ and Custom driving modes. The car felt quicker than its acceleration time suggested, though it struggled with front tire grip. The ES 350 F Sport provided a firm ride, flat cornering, and overall athleticism, making it a competent and enjoyable drive. However, it was not an outright sports sedan, a role reserved for other Lexus models like the IS 350 F Sport.

The 2021 Mercedes-Benz S-Class offered more front and rear headroom and rear legroom than its predecessor. It had segment-leading shoulder room, contributing to a spacious feel. Cargo space increased to 12.9 cubic feet, though it remained smaller than other luxury sedans. The power-adjustable front seats featured 19 motors, heating, ventilation, and massage functions, with tiny pillows on the headrests. The center console provided ample storage, and rear-seat passengers enjoyed a large console/armrest with cupholders and climate controls. The optional Executive Line package added power-adjustable rear seats and four-zone climate control.

The 2021 Lexus ES 350 F Sport featured sport-bolstered front seats with 10-way power adjustment, heating, and ventilation. The NuLuxe synthetic leather provided excellent comfort. Rear-seat passengers enjoyed good foot and legroom, rear air conditioning vents, and an available power rear window sunshade. The trunk offered 13.9 cubic feet of space, with an optional hands-free power trunk opener. Storage was plentiful but oddly configured, with nooks and crannies rather than wide trays and large bins.

The 2021 Mercedes-Benz S-Class came with a 12.3-inch digital instrument cluster and a 12.8-inch OLED central touchscreen, featuring wireless Apple CarPlay and Android Auto, and six USB ports. An available 30-speaker Burmester audio system and rear-seat infotainment setup with 11.6-inch touchscreens and a 7-inch tablet enhanced the experience. The updated MBUX infotainment system offered increased computing power and a more touchscreen-reliant interface. The augmented-reality head-up display projected navigation directions, while the ambient lighting reacted to certain functions. The digital instrument cluster had small touchpads for changing views, which were difficult to use.

The 2021 Lexus ES featured an 8-inch display, upgradeable to a 12.3-inch widescreen display. The infotainment system included Bluetooth, Apple CarPlay, Android Auto, Amazon Alexa, SiriusXM satellite radio, HD Radio, and connected services. The dynamic voice command technology was excellent, allowing users to bypass the touchpad. The 12.3-inch display added dynamic navigation and Destination Assist connected services. A 10-speaker premium sound system was standard, with an optional 17-speaker, 1,800-watt Mark Levinson sound system available.

The 2021 Mercedes-Benz S-Class had not been crash-tested by the NHTSA or IIHS. It featured a rear-passenger airbag and standard driver-assist features, including adaptive cruise control, automated lane centering, automatic emergency braking, forward-collision warning, blind-spot monitoring, lane-keep assist, lane-change assist, traffic-sign recognition, a driver-attention monitor, and a 360-degree camera system. The adaptive cruise control and lane-centering systems performed well, handling highway curves and reacting smoothly to traffic changes.

The 2021 Lexus ES included Lexus Safety System 2.0, which bundled forward-collision warning, automatic emergency braking, lane-departure warning, lane-keeping assistance, lane-centering assistance, adaptive cruise control, road-sign recognition, and automatic high-beam headlights. Blind-spot monitoring and rear cross-traffic alert were standard on most trims. The ADAS proved effective, though the lane-centering technology occasionally struggled. The IIHS named the ES a Top Safety Pick+ for 2021, and the NHTSA awarded it a five-star overall rating.