I would avoid the Avalon hybrid just because with that mileage you would be risking many things to go wrong as it ages. I would be between the 2011 and 2013 ES. The 2007 was still relatively new in the generation and why get an older model if they are all similarly priced? As @DayWalker said, the kinks probably wouldn't have been worked out, and there are some known issues with the U660E transmissions and the dashboards melting. Also if you are anywhere with a remotely hot and sunny climated, 2007 models' interiors tend to melt. You don't want to deal with that.

If I were you, I would get either the 2011 or 2013, whichever one has better service records and passes a mechanical inspection. After all of that, its a personal decision, I personally like the exterior of the 2013 better but the interior of the 2011 better. 

Avoid used hybrids especially one already with more than 100,000 miles on it as battery, generator, and other hybrid system costs will be very $$$ when it comes time to replace them.  That being said, I’d get the 2013 Lexus ES350, followed by the 2011 Lexus ES350.  The 2007 ES350 I am not recommending just because that was the first year with the 6-speed automatic transmission (U660E) and 2nd year with the 3.5L engine (2GR-FE) whereas the 2011 and 2013 which also use the same engine and transmission have already had multiple years by then to work out the kinks in the powertrain.  Also, see if the 2013 and the 2011 has any documented service history:  I would get the one with a better history (I.e. engine oil and transmission fluid changed on time).  To get that you can create an account at Lexus website here (for free), then add the VIN of the car and check the service history yourself (for free!, very easy to get, and obviously without going through dealer):

https://drivers.lexus.com/lexusdrivers/resources/vehicle-specs

And you still want an independent, honest mechanic to check out the vehicle before you buy.

I’d pick the 2013 ES350. 

As with any used car, have it thoroughly inspected by a professional mechanic, before you buy it.

Good luck!

You forgot to tell the price of it. Here's my ranking. 

1. 2007 Lexus ES 350

2. 2013 Lexus ES 350

3. 2011 Lexus ES 350

4. 2013 Avalon Hybrid

The number one rule of buying a specific used car is that you never buy used hybrids because they will have expensive repairs around 130,000 miles or so. All Lexus ES 350s are excellent vehicles since they have the same V6 and same 6 speed tranmissons. Check with a mechanic to see if it's in excellent shape and check the titles.  Btw you made the right choice of getting rid of the Genesis before it's too late. I choose the low mileage ones first because they can last more longer. But who the heck cares.