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"Large and cumbersome" is what I think of the GX. It is not that it is all that large - it just seems larger than it really is. I was going to suggest a Toyota Sienna AWD but the term "minivan" seems to disgust many people. The Sienna is certainly not "mini" - it is a large vehicle. The top Sienna Limited is like the Lexus of vans. Being a Toyota, almost all the controls will seem familiar from your Lexus. The Sienna Limited is available with HID headlights, Adaptive Cruise Control and Pre-Collision System with a price not much different than a GX. We are on the waiting list for a 2014 Toyota Highlander Hybrid Limited with Adaptive Cruise and PCS. The dealer says it is going to have HID but can't show me any documentation that confirms that it does. HID (or LED) headlights are a must - not going back to halogen headlights after all these years. My wife wants to get another hybrid (she drives a Prius v wagon) but I would rather have a fully loaded all-wheel drive Sienna. The only problem with the Sienna for us is that it is LONG - would just barely fit in our garage. But I sure like them - rented one a few years back for vacation use and loved it's comfort and capacity. It drove nicely too - very car like and handled well. I also like the Honda Odyssey Touring models (HID is available on them and I think they handle a little better) but I would rather stick with Toyota reliability ... we had lots of Hondas before our Toyota/Lexus cars and don't have fond memories of those Honda days although I know Honda has gotten a lot more reliable. If I was still launching boats from a boat ramp, I would want an all wheel drive vehicle.