IMHO, the facelift model is preferred because of the XDrive system, the upgraded 6-speed automatic (as compared to the 5-speed of the pre-facelift models), and the improved cosmetics. The Navigation system is a benefit because of the improved driving experience. Just keep in mind that you might have an additional expenditure to get the most up to date software.

That being said, the '02 and '03 models are good vehicles in their own right. The 6-cyl engine is the same as offered in the '04. If you're traveling on well-paved roadways at highway speeds, the transmission and AWD upgrades might not be significant, and there are very excellent portable GPS devices out there. With the right financial deal, the '02 and '03 are excellent purchases.

But the '04 model is newer and improved with the latest gizmos, so from the pride of ownership standpoint, it's likely the best choice.