I too came from a BMW.
My last 4 vehicles since 1999 have been:
--1999 Ford Explorer (A pig when it comes to body roll. Sucked towing with it too)
--2001 BMW 330ci (Sold due to my side business, photography, grew and my kids grew! The trunk/backseat got really small!)
--1997 F250 HD (*used for camping, towing, hauling stuff to the dump)
--2007 Toyota FJ Cruiser (upgraded my primary driver, the BMW, to this)
--2010 4Runner. By far the best of the 4 vehicles for everything except cornering (BMW comes in first here)
The 4Runner was a nice change from the FJ Cruiser, comfort, cornering much better, less harsh of a ride. With a loaded Limited, its like a freaking Cadillac and I really look forward to driving it every morning that I commute.
If you ever think your 4runner 'handles' poorly, I highly suggest driving a Ford Explorer with equal mileage and then reconsider your opinion.
Now, if they could put the BMW suspension on a 4Runner, you'd have a winner *but you'd also have a vehicle that costs as much as a BMW X5, which is atrocious.