I used to drive a 2004 Murano and I got the Venza as my next car. I very happy to report the Venza does a great job. I thought it would be hard to beat the no gear change in the Murano CVT, but the Venza is just as smooth switching gears. I was surprised the ride was much smoother than the Murano. I like the fact the Venza takes regular gas versus premium with the same gas mileage, but the gas tank is about 4 gallons smaller than the Murano (21.6/17.7) which causes about 80 miles less driving on a full tank. The interior is nice, but I wish the would have gone higher glass but that would probably make it a Lexus. The center storage is well designed and useful.
The center console, backup camera, radio display are hard to see in bright sun light. The passenger head rest blocks view when looking for cars on the right. The AC power fan switch is a little hard to adjust since the button is curved at the top and should be flat like the mode buttons.