Figured I'd add my AHC experience for others to consider....
We're now on our 3rd LX470. First was a 2000 LX470 we had for 3 years, then upgraded to a 2005 LX470 we've now had for 6 years, and I just picked up a lower mileage 2006 LX470 a month ago. The LXs have been the wife's grocery-getter/kid-duty/family-vacation vehicle for the last 9 years and we've always had a 2nd vehicle that I primarily used for daily and trail use.
Being the primary vehicle, the 2000 LX was left stock other than a Slee AHC over-ride switch and 285s. When I'd switch from driving my OME equipped Tacoma or GX470 into driving the LX on family trips and outings, I could barely tolerate how s***ty the AHC rode on the LX. But being my wife's primary vehicle, and her never complaining about the way it rode, I never touched it. After 3 years of my wife absolutely loving the LX, she got a bit jealous of the "newer feeling" interior my GX470 had, so we got a 2005 LX470 and I sold the 2000 to a buddy. That buddy promptly had me help him tear out the AHC and install an OME kit. I LOVED the way it rode with the OME kit and felt I shoulda done it sooner.
So I planned to do that at some point on the new 2005 LX470, which my wife also loved and never complained about how it rode. So after about a year of owning the 2005, I tore out the AHC and put in the same OME kit I did in the 2000 for my buddy. I loved it on this one too. My wife said it felt more stiff, but she was fine with it and I've never heard a single complaint. We've taken it a few times out on dirt roads from time to time and it has been great.
Fast forward 80k miles and 5 years, and we've relegated the 2005 to trail duty for me, and bought her the lower mileage 2006 LX470. I traveled by shuttle 4 hours away to pick up the new 2006 LX and then drove it home. The thing absolutely drove like a DREAM. I've never driven an AHC equipped rig that drove this nice. (I have even driven a handful of stock LX570s that were for sale and they did not drive this nice suspension-wise.) There is NO WAY I will be swapping out the AHC on this one any time soon. (And lucky for me, I kept all the AHC stuff I ripped out of the 2005 so I have lots of spare parts now.

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I used to be quite argumentative AGAINST the AHC (mostly in the FB groups) but not in terms of reliability, in terms of ride quality. But I have to say, I have DEFINITELY changed my tune a bit. I now believe that our first two LXs just must not have been maintained as well as our 2006 has been, because they definitely did not ride anywhere near as well as this 2006 does.
And also this:
My 4-day trip into the Arizona Strip this past weekend was turned upside-down when my alternator died in the 2005 LX after 2 hours and about 20 miles of off-highway. Lucky for me I was with a small group and we were only 30 miles from my house so we were able to get me pulled back to my house and throw my gear into one of the other vehicles and continue the trip. Had it happened a day further into the trip though, it would have been a MUCH bigger ordeal getting me pulled back home. But I can def say I woulda rather have had AHC fail and still been able to drive myself back home instead of having to get towed.
Me in the rear-view getting pulled back home after the dead alternator:
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