Hi, yeah, the ISF was brilliant, great acceleration and loved it, but can’t beat this ES for comfort and luxury! Definitely longer and a touch wider, but you get used to that quickly, takes bends fine, Parking, obviously don’t always quite fit in the boxes length wise, but no great problem. I found the steering very responsive, smooth quiet drive, I personally have felt no understeer at regular speeds, it’s a different drive than the ISF but we are an older couple and appreciate a more comfortable interior and all the extras, fwd is no problem to us, it is different but only had-it a month, so only drove it in fine weather, so have to see, loads more room in the back seats too, we have 3 grandkids, the eldest girl 15 thinks the car is “sickkkk” gotta admit, so do we 😃 gets lots of admiring looks! Also great on fuel consumption with the help of the hybrid.