I've driven an IS Exec for the last couple of days. Nav seems fine, no different from any other Lexus system other than having to scroll through options with the rotary controller rather than using a touch screen or remote touch.
The 6 speaker audio system certainly seems weaker than the 8 speaker premium Nav option, but I didn't spend that much time listening to audio. There was a lack of low and mid range, or overpowering highs, when sitting in the front. Rather than alter using the EQ, I put the fader to 70% rear which improved things.