I used to not be a big fan of AWD systems on cars (vs SUVs where I think they are proper)...
I felt I didn't want the extra weight and complexity..
BUT I find the AWD systems from Infiniti quite good.
They are RWD biased and seem to work well.
Also they are among the lighter AWD systems out there and yet seemingly among the most reliable (we have never had complaints on the forums that I recall.... and you know how forums tend to magnify things)
For years I looked at M56s and M37 only to often be stymied by that so many of them were Xs which, at the time, I dindt want..
But now after driving a few Infiniti AWD loaners I have changed my mind..
I know this is not the answer u were looking for... but i thought I through this in here, even so