Absolutely agree the ride quality can be better in a GX, but compared to what???
It is better than any other Toyota/Lexus SUV, sport SUV or truck other than the newer Landcruiser/LX.
Of course it's not going to be a comfy as any of the high end sedans, but it will for sure be better than anything else in it's prices/performance range.
My rig is VERY comfy with my load-out and suspension upgrades. It is way more comfortable than our old 100 series LC's we had, and I can't stand riding very long in my wife's Taco.
So with all due respect, for me and my family, we consider (our) GX very comfortable, or we wouldn't have been able to do 1,000+ mile days on a road trip a couple years ago going to the east coast.
Try pulling 1,000 miles in one day in most any other vehicle... and we did it multiple days!