Just thought I would add my own observations having done just over 1000 miles. SE L without the nav package
I agree with all of the points made by Goggy especially the "joy to drive" comment although it has taken me this long to come around. I downsized from an RX300 which I really loved but could no longer afford the running costs, still miss the power, driving position and huge load space though. whilst some of my comments are negatives they are more than balanced by the positives. In the real world this is a great car despite the bad mainly reviews.
Economy
Trip computer is currently showing 57.8 mpg but calculated is closer to 54 mpg without any real change in driving style. I am unfortunately becoming obsessed with improving the figure, very sad I know. It does make the RX 21 mpg look a bit sick
Performance
Normal is pretty good for most driving situations I think and is reasonably brisk to 40 mph after which the engine note becomes unpleasant. Sport mode gets you from a standing start much more smartly but the 40 mph thing is still an issue. It will still go beyond 40 but the engine is revving at 4500 or so and squealing rather nastily for more gradual speed increase and makes me want to back off rather than keep going so this is where I have had to modify the way I drive. Steady acceleration as opposed to a quick dash is best. Steep hills also cause the same sort of thing and this is where IMHO the transmission and engine combination really do struggle. I forgive these negatives as they, for me, are outweighed by the economy and overall very pleasant driving experience, oh and it is very quiet, nearly caused a Sainsburys car park attendant to have a toilet incident as I approached the exit barrier. He recovered manfully and asked If I has stalled it LOL
Comfort/Space
Minor niggle that actually annoys me quite a lot. The sun visors dont slide so are bloody useless in the side position. the 6 speaker audio system is nowhere near as good as the RX but as time is passing I am becoming less aware of the difference and it isnt actually that bad
Ride
I too have the 17" rims and yes it is exactly as Goggy describes but I do think that things are softening a bit since brand new. Potholes are still to be avoided at all costs, as are manhole covers and grates