Then a BMW isn't for you. You expect different things from what BMW is all about. Surprised you would want a CTS then as well. Lexus sure, they're nothing but boats on wheels. But, Cadillac( CTS at the least) has started putting in stiffer suspensions in their vehicles. Go test drive the CTS with the FE3 suspension. It is stiff. Why? Because it needs to go around the corners of tracks like the Nurburgring. I don't think an ES350( or IS350) will do the Nurburgring in an impressive time against the competition like the 335i and CTS DI( well the GS would be against the CTS size wise).
BMW is about what happens between A and B not how to get you there in the most comfy way, but to excite you. Throw it around corners, the BMW will do it with ease. Punch the accelerator( especially the 335i, M3, etc) and the engine won't simply just rev, it will growl and put you back into your seat. Lexus's won't have that growl. Lexus( and Mercedes for that matter) is all about isolating you from the road. They will keep the engine muffled, they will give you a soft suspension to absorb the bumps. But, they are certainly not going to be as fun to drive as a BMW will.
Again, different tastes. BMW doesn't make a car that suits your needs. One less wannabe on the road.

And I might be slightly biased. Just look at my sig.