The infotainment got an interface upgrade in 2006 (I think) which helps a bit, but still feels dated. The early UI is usable, but not pleasant.
HMCS: Check your odometer calibration compared to a GPS app for distance. When I went +1 on tires my speedo wasn't off, but my odometer reads 5.5% slow so I'm really getting 5.5% better fuel economy. Also, try cleaning your MAF and running a bottle of fuel injector cleaner (I like the Lucas stuff) to gain some empeegees back. It helped my GX.
The third row AC is pretty nice if you have any passengers in the middle or back rows. Mine also has the DVD player which comes in handy for kiddos on long trips.
Toyota drivelines can get sticky due to old grease, a clean and thorough re-grease will help clunks.