I'm in a similar situation as you however I'm actually leaning towards the Lexus instead. I own a 2013 Honda Accord EXL and a 2016 Corvette Z06. My next car will obviously replace my Honda. I was looking at the Lexus GS, however its long in the tooth and most people are amazed they even came out with a 2020 model. I'm now looking at a ES instead since it was just refreshed. Keep in mind that the 2020 ES series does support
Android Auto. I'm unsure if you know it however there have been many complaints with the ML stereo and the back speakers in the car not being loud enough and no ability to control them. I'm also a long time Audiophile and regularly go the Shows in Denver, Southern California and Schaumburg Illinois and in fact will be attending the show out of Chicago in April. Even with its faults I understand the ML stereo is very good. I have visited the Lexus dealers and looked at many ES models but I've yet to hear the ML stereo. My comments are based on what I have read in numerous forums.
Playing lossless audio is not a huge deal for me in a car environment but I get what you are saying. If you get the Luxury or Ultra Luxury Lexus they come nicely equipped and they are a luxury car. You will always get more options for the money with the Genesis models. What I'm confused about is what are you looking to buy? The G70 and the G80 are completely different cars. The G80 is a larger car and more luxurious while the G70 is a faster and more sporty car. Even if you buy a Sports model ES, the differences between the ES 350 aren't that great. I'm a regular in these forums and also several Lexus forums. I was hoping the redesigned G80 would be released as a 2020 model but now it appears it won't be out until late next year as a 2021 model.
While I love the Genesis, I have some serious concerns about the Dealer support network and even about the quality of the cars. I've never owned either car and I'm basing this entirely on what I read in the forums. I do think the Genesis cars are good quality, however its my belief they aren't up to the Lexus standards. Keep in mind Lexus is consistently #1 in reliability so they are pretty much the top dog. If Genesis can come close to competing with that they are doing a good job. I'm in no rush to buy a car today so I'm just waiting it out and collecting more information. I have also been to numerous Genesis dealers and have looked at both the G70 and G80. Let us know what you decide to do. I think buying either brand would be fine, however you need to be prepared to make sacrifices depending on what you are looking for in a car. To me the Genesis look better than the conservative and somewhat boring Lexus models. I have my pet peeves about both brands so in the end its a personal choice.