Yes, i have. Last month, as a matter of fact. I participated in the Lexus event at Alameda Point in San Fran Bay. We test drove the rx, gx, lx, x5, mdx, aviator, esclade, and a dozen more competitors on and off road, from speeds of several mph to 70+ mph. The best thing about it was that there were no salespeople, thus, no pressure to buy anything. They also gave us tons of goodies when we left :P . I agree that the new rx is much more comfortable, and smoother, since i own a 2001 rx300. I wish i had held off two more years and gotten the rx330. Too early to trade my rx in.