The all-new Avalon is selling much faster than its predecessor, despite what some naysayers have posted. From what I've read, the Avalon is setting monthly sales records ... and it is likely you will have to wait if you want one in a Limited trim level, in certain colors.
There are some deals around, especially on XL and XLS models, and a few dealers willing to deal on Limiteds. However, some dealers are sticking to full MSRP on Limiteds. It has been reported on the Edmunds site that some dealers are asking for prices above MSRP. My local "one price" dealer is pricing Avalons at $1,000 off MSRP, except for Limiteds, which are full MSRP and in short supply. A month or so ago, the Avalon discount was only $250 at this dealer. I'm sure deals will only get better with time, and especially after the next new Camry is introduced early next year.
I purchased a new Avalon Limited for just under $32,000, after a $3,200 discount ... and it has been absolutely excellent in every respect. I had been considering a new ES330, but the Avalon has more features and better performance. I would guess the next generation Lexus ES will compare more favorably.
Bob