Lexus has outshone Mercedes-Benz in a recent U.S. customer satisfaction study, while Audi and BMW were the only two brands to attract better customer satisfaction results since 2014.

The Lexus brand scored 84 points giving it the highest customer satisfaction score, just ahead of last year’s winner Mercedes Benz. Ford achieved the highest score among the domestic American brands in the study, ahead of General Motors and Fiat Chrysler Automobiles.

Of the 27 car brands that the index tracked in the study, 15 saw a decline in customer satisfaction. The other 10 brands were unchanged or their comparisons were not applicable. This is the third year in a row that the survey reported a decrease in customer satisfaction, but it appears satisfaction levels are actually returning to normal after hitting an all-time high during the recession. It appears that the high numbers of car re-calls in impacting on customer satisfaction scores. Last year, 64 million cars were recalled in North America, the highest number ever.

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