Well, chassis and suspension is similiar to the Cayenne, as you might know. The Touareg V10 outperformed the BMW 740d on the Oschersleben-track, if I recall correctly.

A V10 diesel-engine up front will never be as agile as a much lighter gasoline-V8. The lag in acceleration just enhances that feeling.

No clue about the brakes but I can't recall any major flaw there. You should check on www.autobild.de since they did the above mentioned comparison with the Bimmer and the G-wagon!