Given the requirements you've listed out, it's hard to go wrong with the Lexus ES 300h. It's the only one in this price range that offers the power recline function at the rear; its ride quality is superb. 

Also, being a Toyota underneath, maintenance and services are fewer and more affordable than those of other luxury cars. The Toyota Camry is, of course, even better value, but it doesn't have the same luxurious interior as the Lexus. 

With German brands having got significantly more expensive lately, the Lexus has somehow remained in the lower price bracket. Alongside the Mercedes-Benz C-Class and BMW 3 Series LWB, which only further enhances its value proposition. 

The BMW 330Li would be a good option to consider in this price point. It has a refined and powerful six-cylinder turbo-petrol engine that offers an excellent driving experience, but at the same time, the long wheelbase allows it to have fantastic legroom at the rear. 

If you want to be chauffeur-driven but also enjoy driving by yourself, the 330Li will offer the best of both worlds. 

Since you are used to a BMW, you won't find the same driving pleasure in other brands. 
The BMW 330Li M Sport Pro is a superb option that has an excellent balance of driving dynamics with rear seat comfort. The long-wheelbase allows it to have a roomy rear seat, and the 3.0-litre straight-six engine is powerful and exciting as well. If you don't want an SUV, there is no better option than the 330Li.