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Handling is adequate in both of them, unless you plan to drive very quickly, which neither of them likes. For spirited driving Ms are more suitable, otherwise, they are trucks which do handle very decently given their weight. Unless you go for suspension upgrades, both are probably on par, with X6 having a slight advantage due to shape and mass. Suspension discussions are pretty hot on this forum, so you can find a wealth of info here.
X6 driver's seating position is lower and makes you feel like you are driving a tall car. Driver's seating in X5 on the other hand, feels more like a truck seat, although sporty.
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