I love my 2008 Touareg V6, it's been a spectacular car. Never had an issue, no rattles etc. My 2005 X5 on the other hand had nothing but issue, my 2004? No issues. Go figure! I wouldn't recommend the 2004 Touareg, it's the year it came out and was plagued with problems. They didn't get good until 2006. Their issues are not only technical but also extremely expensive. They also tend to have a higher resale value than the 2004 X5 for whatever reason. I would lean towards the Minivan, I mean ML as the 2002 was decently reliable.

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The Present:
2014 Audi Q5 TDI Prestige
The Past:
2013 Lexus GS350
2013 VW Golf TDI
2007 BMW X5 4.8i LOADED & Loved
2009 VW Jetta
2008 VW Touareg VR6
2005 BMW X5 3.0i
2005 BMW Z4 3.0i
2004 BMW X5 3.0i
2003 BMW 325i
2000 Ford Explorer Eddie Bauer 4x4