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I've owned a 2006 is350..it was a great car other then the rubbery bits used in the interior got very sticky and the dash cracked in a few places by the glove box...
Mechanically the car was perfect...
310hp got that little car going pretty quickly, but was somewhat boring to drive..also pretty tight inside..the back seats are not very comfortable for an adult for more then an hour or so..
I haven't owned a g series infinite but did own a 2007 infinite m35..
Same layout and motor..
I got rid of that car a few years ago with about 150k on the clock...
Great car but the same type of interior issues as the Lexus...cracked dash and the 2 front seats didn't hold up very well..
The infinite can be expensive when it's time to change plugs..do a search!!
If i had to pick between the two i think i would go with the Lexus...just because it was a rocket...
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