Lexus, Toyota or Honda?

I currently own a 2000 Toyota Avalon XLS and am looking for new wheels
(and the rest of the car to go with it).  I have been happy with Ava
and looked at the new Toyota Avalon, Camry, and the Honda Accord.  I
haven't looked at the Lexus ES350 yet because the dealership is about
a 2 hour drive from here.  The reviews look good.

My initial conclusion is they all look good.  The Toyota / Lexus are
somewhat quieter and smoother, the Honda probably more reliable.

I hear that Toyota quality and reliability is slipping and the 6 speed
transmission used in all the cars that I am considering has problems.
How serious are they?  The Lexus seems nice but I am being told that
it must be taken to the Lexus dealer for warranty repairs, a 4 hour
drive round trip.  Is this true, or can the local Toyota dealer handle
it?

I considered the Accura TL, but it does not come with cloth seats. The
Honda dealer was pushing the Nissan Altima.  I don't think they are as
reliable as the Toyota.  I recently rented Nissan Sentra for 2 months
in Hawaii.  In 2 months due to failures we drove 3 different ones and
were not impressed.  Any other suggestions for a nicer car that comes
with cloth seats?