I was unfortunately just a passenger on that drive, Since I'm technically employed only by the Toyota dealership, it's very rare for me to have an excuse to drive anything from the Lexus half of the dealership. But when someone was taking it over to the gas station, I couldn't help but hop in the passenger seat, which I was soon effortlessly pinned to. What impressed me, was that at the same time, it felt smooth as butter in every way. I'd love a chance to drive one, but it's well above my pay grade for now. (after all, I'm a seasonal employee/college student that parks/washes cars and mows the grass).
And yes, Hyundai has definitely stepped up its game, the Elantra especially seems to run forever. But Honda and Toyota seem to win out (personally, from just the first and 2nd hand experience I've had) more so. I'm also partial to the road-feel that Honda's seem to have, and the way they set up their shifters. I'll take a long throw and effortless, smooth as ice shifting over a short, notchy throw like a lot of other companies seem to trade for. (prime example is Civic SI vs the Carolla S. the throw on the S is shorter, but much stiffer, at least in those that I've driven, and they don't seem much better on used ones either, where as the SI is a little longer, but smooth enough it feels like you could let go halfway through through the throw and let it glide into gear)