Shoot, if it bothers you that the steering wheel twitches over every imperfection on the road, then definitely steer clear of the G-class Mercedes and it's solid front axle (before the 2019 redesign). It will drive you nuts, even with a beefy aftermarket steering damper. The GLS, on the other hand will probably be more to your liking. Granted, reliability will take a nose dive over any Toyota product, but you can't have it all.
Thats the only reason i didn't buy one of the older G550s. Most of those are relatively reliable but they all ride like ass.
There are great eras of MB G class but the LX is the best car all around for anyone with wisdom.
MB does not make an off road S class, lexus does.