yeah, we love my wife's 2013 MS. 
She still cusses out the highlander when she has to drive and then cusses me out if she has to fill it up. Claims that gas now smells HORRIBLE (I would guess like an ex-smoker by an ashtray; they either crave or hate it). 

Best car that I have driven (including plenty of Porsche and Ferrari though nothing over .5M in today's money), though I prefer to NOT drive it. Every time I go back to highlander, I make mistakes with it thinking that I have same acceleration and handling.

Out of curiosity, we are approaching extended warranty. 
Did you go with it and if so, what do you think of it?