Yes, first in a BMW X5, then in an Audi Q5. Very big difference in long-term quality.
At just over 100k miles, the BMW chassis and steering felt very tired in the way it drove, steering was not crisp, did not feel tight over bumps. It still ran fairly well, but not as strong as when new.
The Audi Q5 at the same mileage (just over 100k) felt literally the same as when I first drove it off the lot -- same power, same steering crispness, same tight feel over bumps, everything felt like new, interior and body looked like new. When I had loaner Q5's during service, the loaners felt the same as our 100k mile car (or worse when the loaner had the "Sport package", which I typically hate in SUV's)