I would just like to know what to look for when deciding between all the ES models. Would it be best to settle for a higher class model with more miles or a lower class model with less miles if they both were the same price?

I would settle for a lower class model with less miles just because each one of these ES models are very comfortable and nice to ride in.

I'd probably take the higher class model with higher miles. Reason being, mileage doesn't matter on a Lexus (they're all very reliable) and I'd like to extra features. It is true, however, that they're all very comfortable. It all just depends on your own tastes.