Though largely identical in exterior and interior design, the GS and the Aristo differed in their engine and transmission combinations as well as equipment packages.

A lower-displacement V6 model, the GS 250, premiered at the Auto Guangzhou Exhibition in November 2011, targeted at Asian and European markets.

[5] In some markets such as North America and Asia, the GS shares the mid-size sedan category in the Lexus lineup with the front-wheel drive ES, serving as its rear-wheel-drive counterpart.

[10] Equipped with an independent, double-wishbone suspension setup at both front and rear ends, Italdesign's sedan design first appeared in Toyota Aristo form in Japan in October 1991.

[12] For Lexus, The GS was placed above the front-wheel drive ES luxury sedan with its superior drivetrain setup, power and available amenities.

For the interior, the GS 300 featured walnut wood trim on the center console, leather seating, an automatic tilt-and-telescoping steering wheel, and the option of a Nakamichi premium stereo system.

In January 1997, Lexus debuted the "High Performance Sedan" (HPS) concept at the Detroit Auto Show, previewing the design direction for the redesigned GS.

[15] The new model's styling was produced in-house, and featured quadruple headlights (the interior two of which were elliptical) in a fashion similar to the Lexus SC coupe.

For export markets, the second generation GS began production in the JZS161 body style on 4 August 1997 and was officially launched in October 1997.

Lexus offered the GS 300 once again and featured a slightly revised version of the previous generation's 3.0-liter straight-six now producing 168 kW (225 hp) and 305 N⋅m (225 lb⋅ft) of torque.

Answering customer requests for more power, the American market GS 400 (UZS160) was equipped with the 4.0-liter 1UZ-FE V8 that produced 224 kW (300 hp) and 420 N⋅m (310 ft⋅lb) of torque.

The Aristo was the last production car that saw the Twin Turbo 2JZ-GTE motor, continuing 3 additional years after the Toyota Supra, the only other vehicle featuring the 2JZ-GTE, was discontinued in 2002.

[20] The SportDesign package interior-wise added perforated leather upholstery, uniquely branded door sills along with brushed aluminum and dark stained walnut trim.

[9] It was the first mass-production rear-wheel drive luxury hybrid car, featuring the naturally aspirated 3.5-liter 2GR-FSE V6 engine mated to two electric motors and a planetary type continuously variable transmission (CVT).

This powertrain made use of the Lexus Hybrid Drive system of integrating electric and gasoline engine motors, giving the GS 450h a Super Ultra Low Emissions Vehicle (SULEV) emissions rating,[29] and total output of 253 kW (339 hp),[30] allowing the GS to accelerate 0–60 mph (0–97 km/h) in 5.2 seconds, according to manufacturer data.

Vehicle Dynamics Integrated Management (VDIM) was standard on the GS 430, 460, and 450h models and coupled to VGRS, with which it could alter steering gear ratios.

Major standard features ranged from a 10-way driver and front passenger power and heated seats with three-position Lexus Memory System, SmartAccess keyless system with push-button start, a driver-side hidden drop-down panel for infrequently used controls, standard 7 in (180 mm) touchscreen display, and LED lighting in the cabin.

Competitors to the Lexus GS included the BMW 5 Series,[34] Mercedes-Benz E-Class,[11] Volvo S80, Audi A6, Jaguar XF, Infiniti M, and Acura RL.

In early 2007, development began on the L10 series GS[42][43] under Yoshihiko Kanamori, with the design process finalizing under new president and CEO Akio Toyoda's direction in 2009.

The LF-Gh featured a large, spindle-shaped front grille, and press information further indicated that it had a new interior design which included an analog clock.

[46] The fourth generation GS was the centerpiece of Toyota chairman Akio Toyoda's initiative to restore passion to the Lexus brand and better compete with German luxury automakers that had been gaining market share in the United States.

It was reported that Toyoda initially opposed the styling choices made for the new model, but later thanked the design team that persuaded him to greenlight the project.

[41] At its debut, the fourth generation model was shown in rear-wheel drive GS 350 (GRL10) form, powered by a V6 engine linked with a six-speed automatic transmission.

[49] The redesigned interior gains the Lexus Remote Touch mouse controller system in place of the previous touchscreen, linked to a split-view 12.3 in (310 mm) widescreen dashboard display.

[49][52] A smaller-displacement model, the GS 250 (GRL11), was shown at the 2011 Auto Guangzhou, targeted for sales in China, Japan, Australia and the UK, but not the US.

[55] For the 2014 model year, changes to GS 350 includes an eight-speed automatic transmission for rear-wheel drive (RWD) models, introduction of F SPORT package (optional Lexus Dynamic Handling system with dynamic rear steering (DRS), electric power steering, variable gear ratio steering (VGRS)), integrated Siri Eyes Free mode from Apple (compatible with iPhone 4S and newer), flush mounted sensors for available intuitive park assist, full color display added to the optional head-up display, available blind spot monitor adds rear cross traffic alert and power-folding mirrors, Luxury Package changes (LED foglamps, Superchrome finish for 18-inch wheels, and the rear armrest control panel display adds display option to view radio station and song title information), optional power trunk opener, Lexus Night View system discontinued.

[56] The GS 300h hybrid model includes a 2.5-liter Atkinson cycle inline-four engine with a D-4S direct injection technology, derived from the third generation IS.

[63] In 2018, Lexus discontinued the GS for European markets and replaced it with the front-wheel drive ES already sold in North America and some Asian countries.

The GS F is equipped with Brembo four-wheel power assisted disc brakes with anti-lock braking system (ABS), electronic brake force distribution (EBD) and brake assist (BA), vertical G-sensor for VDIM, rear Torsen or Torque Vectoring Differential (TVD) with three operating modes (Standard, Slalom, or Track), monotube gas-filled shock absorbers and ball-jointed stabilizer bars, spindle grille with F-mesh pattern on the lower half, raised front hood, front cooling ducts, front fender ducts in the L shape, exclusive combination meters from LFA (a large centrally mounted tachometer that alters according to drive mode, digital and analog speedometer, differential torque vectoring monitor, G-force meter, oil and water temperature gauges, mileage information and a stopwatch), and an elliptical cross-section thick grip steering wheel.

[75][76] Orido has several second generation models with different equipment used for drifting events, some with prototype suspension, and fitted with parts from the export Lexus GS 300.