I've driven both the 3.5 litre Aurion (Camry) and the 2.4 version. The V6 had heaps of grunt, was very smooth but had severe axle tramp in the wet. The gear stick was mounted in such a way that my knee kept knocking it out of position. The rear window was so angled that on wet days it was very hard to see out of. The dash looked very cheap and nasty. The 6 speed auto suffered the fault all autos I have driven does- it does not do what I want it to when I want it to. the 2.4 litre was noisy- and not a nice noise either. These cars do not excel in any one area except reliability. The 2.4 litre especially does not encourage spirited driving, while the V6 feels a bit nose heavy.
Contrast that car with the previous generation Liberty and the differences are enormous. The Liberty is far nicer to drive, beautifully balanced with a far nice interior and exterior. It is all class and just as reliable as the Camry. And the Liberty does not suffer the syndrome that forces the car to hold up traffic by travelling below the speed limit alongside the car next to it while a steadily growing queue of frustrated drivers piles up behind it.