Do you want to feel swathed in comfort every time you drive your car? If so, buy a used Lexus. Whether you’re taking a quick trip to the grocery store or embarking on a long haul to a far-off destination, a Lexus won’t leave you sore or fatigued. In case you’re in the market for a used luxury vehicle, and you’re wondering which Lexus model to buy, here are some recommendations.

The 2013-2018 Lexus ES 350 is a great choice for a family sedan

The sixth generation of the Lexus ES 350, which was produced from 2013 to 2018, is an exceptional choice if you’re looking for a family sedan. The 2013 to 2015 models sported a more sedate version of the brand’s “spindle grille” upfront, so if you’re not a fan of the massive grille that adorns the front ends of the current Lexus models, that one is the one to get. In case you’re wondering, that gaping maw motif started in 2016.

Looks aside, the sixth-generation Lexus ES 350 was super comfortable and spacious. There is ample room for up to five passengers and a flat floor in the rear-seat area to provide comfort for the middle-seat occupant. Under the hood is a 3.5-liter V6 that provides 268 hp and 248 lb-ft of torque and can achieve up to 21 mpg in the city and 31 mpg on the highway, according to Car and Driver.

Consumer Reports also gave the sixth-gen Lexus ES a five out of five rating for predicted reliability, so you know the car can last for years to come. Best of all, a nationwide search on CarGurus reveals that you can currently buy a 2013 Lexus ES 350 for around $10,000 to $15,000 depending on the car’s location and mileage. All things considered, a used Lexus ES is an excellent value.

The 2010-2015 Lexus RX 350 provides a lot more capability

If you need something larger than a family sedan, then the third generation of the Lexus RX 350 could be a great pick. Produced from 2010-2015, this particular RX 350 model exudes classic Lexus styling without being overdone. No, you won’t get some of the high-tech amenities like Apple Carplay in this model, in fact, there’s not even a USB port. But you will enjoy a supple leather interior, heated seats with a memory function, and a smooth accelerating V6.

Consumer Reports also spoke favorably about this generation of the Lexus RX when it came to reliability, so you can rest assured that it will last. High-mileage examples of this 2010 Lexus RX 350 model are currently selling for around $10,000, so be prepared to pay closer to $20,000 for a low-mileage one.

Buying a used Lexus LS is great in theory

We know what you might be thinking: What about a used Lexus LS? We don’t blame you, considering you can currently purchase a 2007-2012 Lexus LS 460 for around $25,000. However, it’s important to note that the repair and maintenance costs for this car can add up. According to Car Complaints, which is a site where owners post issues they have had with their cars, shows that the 2007 Lexus LS 460 has the most complaints of all. The most common complaints were filed for interior defects citing issues with interior plastics melting. It’s a weird issue that can cost an average of $1,300 to fix.

Then there are the routine maintenance costs, which can add up to around $700 to $1,000 per year depending on where you take the car to get worked on, MotorTrend reported. But if you have deep enough pockets to afford such a car, then you’ll enjoy spending around $25,000 for a car that used to cost around $70,000 when it was new.

A Lexus GS is a great choice, but it’s overpriced on the used market

The Lexus GS was just discontinued, which might make you want to peruse the classifieds for a used example. And while the GS is an exceptional sedan with sporty characteristics, we must warn you that many of the used examples found in a nationwide search on CarGurus are simply overpriced. There are plenty of five and six-year-old Lexus GS models selling for around $30,000, so if you’re on a budget of $20,000 or less, they won’t work.

We recommend sticking to the older Lexus ES and RX models as those models were prevalent enough during their respective times that they command a better value on the used market. But no matter which model you choose, remember to get a pre-purchase inspection done. By doing that, you’ll ensure that you’ll have a comfortable and highly reliable luxury vehicle that will last for many years to come.