I used to be satisfied with the power of the 1GR-FE, until my wife recently got a 2006 GX470. The GX's power is pretty impressive. It comes on smooth, down shifts quickly, and provides plenty of power instantly any time you want it.
On my 4runner, I need to floor it, or use the sport shift (Which annoyingly takes too long to shift) if I ever need power. The sad thing is, the 1GR-FE is of capable of feeling close to as powerful as the V8, it shifting mapping just is horrible. Even putting it in S, doesn't seem to help. I wish that toyota would at least given us the option for an Efficient mapping (in D), and a normal to powerful mapping (in S).
Funny, Consumer Reports measured the 5th Gen 4Runner at 0.2 seconds faster than the 2004 GX470. 0.3 seconds quicker in the quarter mile. A new GX460 has a whopping 0.2 second advantage in the 0-60 run and 0.1 seconds in the quarter mile.
They also just tested the new Jeep Grand Cherokee with the Pentastar V6 and 8AT combo. Exact same city and highway mileage and slower to 60 by 0.3 seconds and the quarter mile by 0.1 seconds.