2006 BMW 5 Series 530xi 4dr Sedan AWD (3.0L 6cyl 6M)
Have owned Audi, Jag, and another BMW since about '97, and this in unequivocally the best driving vehicle I have been in. Smooth, solid power, handling is amazing. Snowstorm on 3rd day after buying and tried hard to get it to slip, couldn't do it. Interior is just the right amount of luxury, and the iDrive is easy for anyone who has touched a computer (what was all the fuss?).
Acceleration, braking, 18" tires, steering wheel, prem leather is great, most modern nav screen I have seen, split screen; ext paint is exquisite (have received many comments)
More cupholders/storage (or at least better location), useless "accept" screen at every start (other cars w/ nav I have don't have it), mileage could be a bit better