Pretty much similar car, more plush and luxurious being a Lexus.

Both are still fairly new to comment on the long term reliability.  Realize the Lexus ES is built on the same platform as the Camry, but being a luxury car parts will cost more than the Camry, and total cost of ownership will generally be higher on the ES than the Camry.

Whichever one you like better

I’d say they’re almost equal since it’s the same platform. But when they eventually break when they’re like 20 years old, that Lexus will cost a lot more to fix. 

Depends a lot on how much you value comfort. In earlier years the ES was Avalon sized, not Camry sized. Thicker steel, better insulation for noise control. Much more comfortable. 
I don’t own a newer ES, so can’t comment with knowledge about the 2019’s.