Both the Kia Amanti and the Hyundai XG both individually sold more units than Toyota's Avalon, but I doubt you'd say Toyota should have learned something. Or you say it has learned, just as Hyundai has.
I'm more taken with the lines than in photos I've seen in the past. More flowing and less truncated than what I've seen in the past, although the front is still rather plain and rectangular to me. The Avalon's exterior is quite good looking now for such a large car (grille is a tad toothy tho), but the interior I'm not so keen on. All the large font, hidden compartments that are finnicky to open, etc. I like the Azera's interior, minus the fake silver guages. It's certainly a more complete car than it's predecessor.