It’s next to imposible to answer your question; we can only suggest cars with similar handling characteristics.
As others point out, the 3 Series BMW is the comparison mark for handling (on dry pavement), and in the hands of a competent driver, but since it is a rear drive car it’s prety awful on snow and ice.
The best handling Japanese car is probably the Infiniti; it comes the closest to the BMW.
I make it a policy NEVER to recommend a car to anyone just because “they don’t love or like” their present vehicle. You may not love your next car either. Your Lexus is the most reliable car money can buy, so anything else will be less so and in case of the BMW or any Mercedes, less reliable and much more expensive to operate.
My advice would be to test drive some of the cars recommended, and make a decision based on your own personal observations.
If you told us specifically what you don’t like about your present car, we might be more helpful.