I own a 2006 Infiniti M35 Sport and a 1994 Acura Legend GS (may she rest peacefully for now... another story). My mother owns an RL and to be honest this is an apples verses oranges comparison. It depends on what your driving characteristics and pleasures are. An Infiniti G35 is comparable perhaps to a TL and shouldn't be in this discussion honestly.
I've compared both of those as well. Acura is about reserved luxury. They cruise effortlessly and have remarkable reliability. Both the RL and the M35 are LADEN with techno- gadgetry galore and both will satisfy ones "Star Trek" desires. The Infiniti is a street burner performance machine. It's reliability so far has been EVERY bit as good!
(Check Edmunds' consmer reviews as I did before purchasing mine) It's a little (very little) less refined for the sport edition in smoothness of ride simply because that was the way the engineers wanted it. It TRULY has the SPORT feel slighly ahead of the luxury feel ONLY in terms of ride feel. The interior of the M is every bit as rich and luxuriosly appointed as any Acura and egronomically the difference is strictly a personal taste difference. The RL may get a slight nod in fuel economy but TRUST ME the Infiniti wins the fun to drive silly boy grinning factor HANDS DOWN! It's rear wheel drive also aids to the sensation. It's exhaust note COMPELS you to go faster and faster and it'll do WHATEVER your brain tells your right foot!
The experience in my local area is not so pleasant with the Acura dealership service dept (hasn't been since my first Acura back in 1998) so that in itself isn't an all-together determining difference. So this is a decision SOLEY on personal tastes. I recommend driving them both. Whichever one you like more is the one you should get. I can make one recommendation in that if you want a more reserved car comparison drive the NON sport Infiniti M35 as it doesn't have the sport suspension nor the higher agressive 19 inch sport tires/wheels. I'm in my upper 30's and haven't graduated to the completely conservative nature just yet and therefore went with the Infiniti. I can't speak from experience about the long highway drives in the Acura RL but knowing my Legend the RL should be stellar. The Infiniti hands down LOVES the open road and 6 hour drives are quite pleasant and comfortable.
There's my 2 cents... okay maybe a little bit more than 2!
***UPDATE*** I've had my first experience with the local Infiniti dealership and I must say I'm IMPRESSED. They fixed everything that was under the factory warranty at NO charge. I did have them replace the cabin filter which is maintenance which was a little high but depending on how they have to manuever to get to it (Acura Legends are NUTZ to do!) the cost may be justified. They weren't overly pushy about the scheduled maintenance that the prior owner likely went elsewhere (non Infiniti dealership) to have done but I've covered all of those items. They simply wanted to inform me and told me the cost UPFRONT! The real kicker was the 'free' loaner from Enterprise that is right there AT the service dept. of the dealership. Here you are a Mercedes Benz C300!
Just remember to bring it back with at least the same 1/4 tank of gas. My car was even washed near spotlessly! Acura NEVER treated me nor my mother (who ownes and BOUGHT her RL from them) this well!
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