The Lexus LS400 debuted in 1989 with a very high tech v8, with the highest r&d budget of any car engine to date. The 1uz-fe was an outstanding engine however you look at it, and so were its derivatives made well into the 00s. Other auto makers including euro brands like BMW had to play catch up. Lexii weren't just glitzed up cheap cars, nor necessarily high margin. There were some models like that, though. The Lexus GS300 was a Camry, if I remember right. And Scion TCs are Toyota Corollas.
The ES is/was the FWD platform that is said to be related to the Camry. Although I seem to remember that these days the ES is more related to the Avalon, a larger, but also FWD car. The GS is a different, RWD platform.
Also, in many cases, Japanese luxury models under their own nameplate were sold under the parent company name overseas, like in Japan. For instance, the original Acura NSX was the Honda NSX elsewhere.
