2003-4 - Audi, Infinity, Lexus or Jag? (under 50k miles)?

I am still trying to find the right used vehicle. Audi, would be A6-8, Infinity:G35/M45, Lexus ES300, Jag: S type. I have read reviews on all. All have customer complaints. Its very frustrating because I hear Lexus are awesome, but even Lexus's reviews (Pvt and Consumer advocates) indicate issues with all. This in mind, which would you folks choose? Thanks!