have had the lexus rx330 and now have the gx470. love lexus.
i actually just pre-ordered a bmx x3 for my next car though bc bf recently got a bmw and i love driving his car. had to have one.
i love things about both lines, but they drive completely different.
the bmw is a tighter, hugs the road, sportier feel. very fun to drive.
the lexus is a looser, softer ride.
bmw also has a wonderful all inclusive 50,000 ( i think) maintenance program.
lexus has nothing of the sort and is quite expensive for even the most basic of service...not that you have to go to them, mind you, but def not covered.
i'd test drive both and see which you prefer....