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Spin-off and counter-part are two different things. (i.e. The show Friends. When that show ended, they produced a spin-off called Joey or something like that. Meaning, they took one character from Friends and made a different show. They didn't take the whole cast and put them in the new show. Just one character. #No Romo) The ES is essentially the counter-part of a Camry while the GS is a spin-off of a Camry. The term can be used loosely, but I was under the impression that he was implying that the GS utilized substantial parts from a Camry and in this case, they have. Camrys aren't too shabby so it's not really degrading the GS, but rather denoting that they can use a quality frame/chassis & drive-train that is tested and proven...Actually just because they share a few parts here and there doesn't mean it is a "spin-off". As you said, the ES is the Camry version of Lexus. This new GS350 has an all-new chassis, RWD and drives nothing like a Camry.
And I am not expert but how does the RX have a modified Camry frame? Really curious about that one as it's weird to see a car frame be modified for an SUV.
The RX uses the Camry's front platform while the rear contains it's own double-wishbone suspension. Thus, you have your modified Camry platform. You'd be surprised just how much the Camry is used in other models...