This car costs $53,555…about 3 grand less than a base Audi A6. And for that Lexus gives you a 203 horsepower all-wheel drive midsize sedan with F SPORT touches such as a sport-tuned suspension and a red faux leather interior. Prior to this model year, ES gas-only models were exclusively V6 powered and front wheel drive. But now, you can spec one with a RAV4 engine – the only way …