I think alot of the issues people are having with the ML can be fixed by fading it a bit into the back seats. Centered, the sound stage is too far forward (typical of ML and new cars) as well as "narrow". In the drive seat you sound stage is between the center dash speaker and the left. Fade it behind you to the front to middle of the rear seats and turn it up a bit. Bass is always going to be an issue on stock units but the mid bass is very good if you tune bass up a bit. Highs are ok, mids are muddy like most systems. Its not the worst system and its only $1k over the stock. So in reality you aren't getting a big difference than stock, some more speakers and a different tune on the amp/different amp. Alot of the issues are likely via the tune on the amp. I'm talking to a shop about bypassing the amp and adding a new 12 channel that can be tuned, tbd but assuming it will make a much higher impact than if in 5 years Lexus recalls the ML amp (which is likely locked and will never have a TSB).