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I had 2 GX470's... Frankly, there is no comparison between the Lexus GX and the BMW X5. Completely different driving experiences. The GX floats down the road while the BMW drives down the road. The GX feels big where the X5 feels more like a large sedan. Reliability is better with Lexus, but I did have issues with both GX's one where the dealer gave up on a solution and I ended up getting rid of the truck because of the issue. (the front seat had a clicking noise coming from the support every time you made a turn. it was loud, and annoying and because I had 64,000 miles on the truck they refused to replace the seat even though I had the extended warranty)
I went the X5 route not only for the driving experience, but I'm averaging 28mpg on the 35d where the best I got on my GX was 19mpg.
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