Performance
As far as horsepower, the Lexus ES 350 packs quite a wallop and will knock the Lexus HS 250h down a few rungs. However, bear in mind that high horsepower engines often command higher insurance premiums.
Handling
With their similar turning radii, the Lexus ES 350 and the HS 250h most definitely handle about the same into and out of tight spots.
Drivetrain
The Lexus HS 250h's engine is significantly smaller than the ES 350's. Keep in mind that smaller engines can be stressed more; on the other hand, smaller engines are often cheaper to fix.
The Lexus ES 350 packs quite a wallop compared to the Lexus HS 250h as far as torque, which is roughly equivalent to acceleration.
Utility
The ES 350 and the Lexus HS 250h can accommodate the same number of passengers.
Convenience
You'll most certainly have to take the ES 350 for a fill-up more often than the Lexus HS 250h because of its tank size and gas mileage.
Comfort
While the front cabin in the Lexus HS 250h offers a bit more head room than the Lexus ES 350, there honestly isn't much of a difference.
The Lexus ES 350 is not particularly roomier for your passengers than the Lexus HS 250h.
Dimensions
Your wallet will hurt more every time you fill up the Lexus ES 350 than the Lexus HS 250h because of its bigger tank.
The Lexus HS 250h and the Lexus ES 350 compete for the same parking spaces.
Cost
The Lexus ES 350 pales in comparison to the Lexus HS 250h regarding gas mileage.
In terms of MSRP, the HS 250h costs about as much as the Lexus ES 350 (though the Lexus ES 350 is a little cheaper).
The ES 350 will cost you a lots_of_money in gas every year compared to the HS 250h.
Warranty
The Lexus HS 250h and the Lexus ES 350 have the same basic warranty.