I drove GS a lot as a company car. It is good vehicle, nicely done, fit and finish is OK. It is not Camry. GS is RWD platform and has proper longitudinal set up which allows more space for more potent suspension. Now, as with any Lexus vehicle that is trying to catch up with BMW, MB and Audi, there is a lot of desperation there, unintuitive dashboard, somehow managed to make RWD platform that understeers. But, if goal is not getting replacement for those German cars, then it is IMO really good vehicle to go point A to point B.
These newer ones though are having serious insecurity issues with that styling.