depends on your preference on exterior/interior.
The ES with the 3.2L V6 and first gen 3.5L would a be a neck to neck race, however with my experience the 3.2L would get better mileage (unless its a 3.3L).
Either way you'll probably experience clear coat peel, I don't think that was fixed until 2000 or 2001 model years. And you will probably want to replace your sway bar links/bushings, LCA bushings and upper and lower ball joints and especially inner tie rods and maybe rack bushings.
It sounds like a lot of work but if spend the $$ and get a pair of tires and an alignment you will be in LH heaven.