Since our vehicles are body on frame, you have to separate suspension movement (which includes the body and the frame) from "scuttleshake" (where the body vibrates against the rubber insulators mounting it to the frame) to diagnose NVH issues.
If you feel high frequency, almost "ringing" vibrations, as though the hollow cabin is vibrating like a gong, that's likely to be scuttleshake and it's an inherent reality of body on frame trucks. Lexus has drastically improved this for the GX550, IMO, as older Lexuses had atrocious scutleshake I suspect from extremely soft body mount isolators.
Larger, lower frequency movements are likely to be due to suspension calibration and unsprung mass. These 22 inch wheels and tires are pretty heavy and it's hard to control the motion of giant spinning flywheels, alongside the balance of softness and body roll.
Unibody vehicles like BMWs, Audis - basically anything other than pickups, wranglers, and our SUVs - can ride significantly better, with both smoother ride and better handling at the same time. They can dissipate vibrations through carefully engineered flex throughout the body, and can use much thinner metal in structural areas, as the entire cabin acts as a structural member.
But they can't tow heavy things or utilize weight distributing hitches because the body simply isn't stiff enough to handle that kind of force (or else it would ride like our car). The frame weakness also means most unibody cars aren't designed to regularly do heavy axle-crossing off road stuff - some cars are so floppy you can't open the doors if the wheels aren't level. If you've ever driven a BMW sedan or coupe, you know what I'm talking about; you can hear the doors & windows squeaking when you enter a steep driveway because the entire body is twisting from just the weight of the car sitting on one wheel.
Some of our ride problems are just inherent to the design & intent of our vehicle. I'm generally quite happy with the balance Lexus engineered, but it is definitely, noticeably worse than most unibody vehicles.