 We've only put a few thousand miles on it, but it's been a lot of highway 
miles.  It's very comfortable.  I think Toyota could have boosted the quality of 
the seats, but it's still comfortable.  My main "gripe" is the center arm rest.  I 
drove the car for about a month and then ordered the extension from Coastal 
Technology.
I was concerned about muddy roads as we have a pretty good stretch to 
drive on them when it rains.  Front wheel drive handles it like a charm!
We're getting a constant 46 - 47 miles to the gallon.  We drive 35 miles each 
way to work, plus around town driving.  The mileage seems to get better as 
it's broken in.  Sooooo much better than the Jeep Grand Cherokee!