Slow right off the line. What about others?

[autoque]

I have a new 3.0 and I'm experiencing some lag right off the line. Maybe it's normal given that it's a heavy vehicle and the displacement is only 3.0 liter.
I've been renting and driving a Hyundai Sonata 4cyl model and it's very peppy on a stop light. And even my previous vehicle, which is a year 2000 minivan is pretty fast taking off.

But the X5 3.0 feels sort of slow to go from a complete stop. After pressing on the throttle, the vehicle starts moving slowly and I have to wait for about 2 to 3 seconds for the engine to come alive, pick up speed and be more responsive.
It's not very sensitive to my throttle input, like sluggish off the line. It feels like I'm starting from a second gear, yeah, that's exactly what it feels like.
Pressing fimrly on the throttle, say, three quarters full does help lower the lag, but it's still not fast; it's just enough to keep up with other traffic.

Is this what you 3.0 owners are experiencing too? Am I just too used to a light vehicle like the Sonata that I've been renting?

It's a lot better after picking up some speed though.