I've driven this new to me 2019 LX570 for a few weeks now. I'm surprised there was not more on here about how the AHC changes with the "Drive Modes" and is actually VERY VERY GOOD at limiting body roll (sway) and it turns the LX into a tightened down, very direct SUV on smooth roads, it's ability to control body roll is excellent!
I liked the LX for it's capability and dependability, and was ready to fully compromise for that floating feeling that trucks can give, but I really like it's behaviour on a smooth freeway in sport or Sport + drive mode. The "Chassis" setting in "Sport" mode combined with "Powertrain" in "Eco" is confidence inspiring for high speed Cruising, and feel very good when making balance changes. It's not the Adaptive Damping in my Alfa Romeo, but it is really very good.
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Stock for now....
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Yin and Yang