Yes but not a BMW - a 2012 MB GL550 (still have it but I don't drive it anymore, it's the wife's car). Previous to that I had a 2010 X6 35i which I traded in for the GL550.
No comparison to an X6 in terms of handling. It's more luxurious though and more comfortable but boring. The X6M destroys it performance wise, but the GL550 isn't slow for a 6000 lb 7 seater truck with 387 hp.
Come to think of it, I felt it was pretty fast until I got the X6M!
(But I always felt the GL handles like a barge, mostly because, it handles like a goddamn barge!)