Here are my thoughts

For the Camry, stick to 2004-2006

For the Civic, stick to the latest year possible in the 2007-2011 year range

The Acura TL/TSX in those years have weak automatic transmissions

I think the Acura CSX is Canada only so can not comment

The Lexus ES is a good choice

For the Honda Accord, avoid years with automatic transmissions issues, so 2006-2007 is the better year range

Use carcomplaints for a basic idea of years to avoid, and make sure to have a mechanic check out whatever car you are going to look at:

http://carcomplaints.com/honda/accord/

https://www.carcomplaints.com/Honda/Civic/

https://www.carcomplaints.com/Acura/TL/

https://www.carcomplaints.com/Toyota/Camry/

Generally speaking, non luxury cars will have lower maintenance and repair costs. 

The luxury versions will usually cost more to repair (cost of parts will be higher) than the non-luxury ones;  also, insurance will cost more (usually not always - check in your area against your policy).  Anyhow, for a first car I usually recommend the non-luxury versions (unless you have constraints which prohibit you from considering them) so Toyota Camry/Corolla, Honda Accord/Civic.  Between the luxury versions, I would go Lexus over Acura as they can last longer with fewer issues as they age (generally).  

You didn’t state the mileage and engine/transmission or price.  Cross-check your choices with the issues here:

https://carkiller.com/scottykilmer/qa/progressive-common-and-major-problems-toyota-and-honda-vehicles-not-to-buy/

https://carkiller.com/scottykilmer/qa/worst-complaints-of-vehicles-reported-by-owners-relevant-to-those-interested-or-buying-a-used-car/

The lexus es 2002-2006. They are based on the toyota camry, so they won't be hard to maintain. They also share the same parts as camry's. You can get them really cheap as well, are pretty safe for the year, and are pretty luxurious and smooth cars. I reccomend it. 

I recommend going to carcomplaints.com and check out all the cars you listed.

All of those are good choices, choose which one you like best]

Parts for Lexus and Acura will tend to be a bit more expensive than Honda/Toyota

Acura CSX tends to be expensive to fix and hard to locate videos on Google/Youtube if you are locating information. CSX is reliable but when it comes to parts it's hard to find as they no longer manufacture this car anymore so parts can be more expensive.