 I researched and test drove all the leading 2010 SUVs that are not gas hogs.  Far and away the BMW X5 diesel was the best driving experience.  Mercedes was #2 and Lexus was #3.  The x5 diesel was the most responsive under all driving conditions.  It combines the right amount of power with a great feel for the road.  The brakes are incredible.  The acceleration is excellent.  The ergonomics are outstanding.  For me, the engineers at BMW have really done their homework.  I love the iDrive interface and the integration with my Apple iPhone and iPod.  The backup sensors, rear camera and overhead view are superior to anything I saw from other manufacturers.    Very happy with my choice.