This is definitely the case for the current ES and LS. LS felt solid driving it and the interior was not gaudy at all.
The ES felt it drew a lot of inspiration from the LS while using more plastic, but not in a way that made it feel like crap. In fact, I was so impressed with the ES that I genuinely could say I wouldn't mind at all downgrading and getting 80 percent of that quality for nearly have the price.
I feel as though the race nowadays has improved a lot of interiors, but these two models just did something right. They didn't just slap fake wood, aluminum, chrome, and fake leather everywhere. I can't say the same for the RX, NX, and LX. Something is off about their interiors.