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Lexus is Toyota, and that's got a good enough track record for me. My #2 would be Acura. There is no #3.

I voted Benz, but not very enthusiastically.
Get a high mile super well maintained older one and you'll probably be much happier in the long run.

But that is just, like, my opinion. Man.

Luxury cars mean luxury repair and maintenance costs. I can't tell you how many times I've had a customer of mine dumbfounded over their repair bill when they're driving an Audi or some shit. Usually they say "but it's my wife's car," like I give any kind of fuck. Your fault for having a shitty wife who demands a vehicle like that.

Lexus is the only one to buy. Everything else is a maintenance nightmare.

Easily the Toyota
Bullet proof if cared for and driven responsibly

I had an Acura when they were owned by Honda. I loved that car. I'd buy another in a heartbeat if I could take the price. For fast fun cars, a miata has a 6 cylinder and is great and fast for the price. You can get a 6 cylinder infinity or accord too. Or, you can spend more for additional luxury and get fancy panels on a slower car. BMW makes serious racers but the price tag is pretty high. Luxury cars seem to top out at 100k miles and I would like something that will last a little longer. Audi might have a spot on your list.

Out of the list you provided, Mercedes or Lexus, Mercedes being the winner if you $$$$$ pay for it.

Lexus is Toyota's luxury brand. Acura is Honda's luxury brand. Infiniti is Nissan's luxury brand. The other two Japanese brands, Mazda/Subaru do not have their own luxury brands.

I've never been particularly impressed with Acura or Infiniti. So IMO Lexus is the best of the 3 Japanese brands, my second choice is actually Mazda, just like how Subaru pivoted towards the 'outdoorsy' market, Mazda has been pivoting towards the 'semi-luxury' or 'luxury' market in some cases. They're not quite full luxury vehicles yet, as I believe Mazda is targeting the gap between the base Japanese brands and the Japanese luxury brands. They're obviously not full primo yet, but they're good cars with good interiors.

I will tell you that Lexus, Acura, Infiniti, etc--- all of those cars are made inside the same facilities that the base brands are. Lexus sedans are made in the same facilities as the Toyota Camry's are-- so you're not totally wrong about a high end Camry being similar. I will mention, since this is tied to what I actually do for a living, fit and finish expectations and in-plant product check requirements during assembly are dramatically higher on the luxury brands. Toyota being generally known for quality vehicles-- even if a bit bland, does go the extra mile for their Lexus models. Part of the markup you see is for the extra hands and eyes checking everything as the vehicle is put together. Same with the other Japanese brands.

TL;DR:

1) Mercedes if you give no fucks about money.
2) Lexus if you want the true full luxury experience.
3) Mazda , if the only reason you were looking at luxury vehicles was because you wanted something a little bit nicer, but aren't absolutely dying to have a luxury branded vehicle. (Although if you want a sedan, you might be waiting for at 2025-2026 relaunch of the Mazda 6-- potentially with a RWD option though)

I will also say, the pretty much the entire automotive industry is going to pivot towards PHEV, plug-in hybrid-electric vehicles. They don't think full-electrification ala Tesla-style is feasible or sustainable at the current juncture, so just be aware that whatever models you see floating about are likely to become PHEVs at the next model launches. Depending on the exact model may be 1-5 years away. So if you're really torn-up at any electrification, be aware the change is coming.

VW

On old Lincoln Town Car will last you forever.