I've never had issues with the TOD. It's pretty slick in that you are all but RWD till you need more, then it's there, pretty quickly, and fairly smoothly. I like it at least as much as the Audi/VW system...maybe more...but it's light years behind Acuras' new system. I am talking only about road manners here, because I know absolutely nothing about offroading. My comments were directed at the transmission itself. I generally don't like automatics, and do not care for this one at all. Lexus and MB make some amazing gear boxes, but I'm with Dino, I'd rather do it myself. A manual conversion is tempting. Has been for six years now.