I picked the new RX trying to get better fuel economy and for more comfort for passengers. The fuel economy is just ok. Highway I am getting 24.5. City 18.5. I was getting 18.5 in my V-8 4-runner. So I gave up my nice V-8 torque for basically the same fuel economy. This is no family trip mobile. It is terribly uncomfortable. I am 5 foot 9 and average weight... maybe if you are petite it would be ok. My legs tingle and go to sleep while driving on long trips. My back is hurting still from our 10 hour ride back from vacation.
Navi is fun and easy to use. The mouse works great. XM works great and is quick. DVD for kids works from radio, which is nice also.
Fix those seats! Argh! I am ready to trade in because of those seats. The rear seats are actually more comfortable than the front. Believe that or not!