Infiniti, no question about it. It's the only one with 3D views, building mockups, 9" screens in late models..etc. The intersection graphics are great, rotate smoothly, etc.
Hardware: Lots of big white clearly labeled buttons (ROUTE, MAP, ZOOM, etc.), late models ADD touchscreen info without removing the big buttons (not a row of small buttons of the screen sides), so yes, big improvement.
I love the routing on my FX. The Toyota/Lexus is a disgrace. Very confusing, crazy routes, etc. No 3D, only when at intersection.