Three years ago I migrated from a Merc S500 LWB (2000 and £84K new apparently!!) to our 2014 RX F-Sport.
Boy - two wholly different driving experiences. The Merc was slightly heavier, slightly quieter, but the overall driving experience of the RX is superior, sits higher on the road of course, but is supremely comfortable, reliable, and a dream to pilot around.
My wife feels equally comfortable driving it too - (and we're both 'crinkleys')