I've driven the Cayenne several times on the street and I recently spent two days driving the Touareg in Phoenix, both in the city and the surrounding mountains and dessert. The Touareg (and the Cayenne) has amazing off road abilities yet still handles well on the track (did that too!)
Touareg options include V6/V8 gas engine choices, air or steel suspension and a nav system, all come with 6 speed tiptronic and will tow 7700 pounds. Pricing should start around 35K with a loaded Touareg up around the price of a base Cayenne.
Edit: Someone from a Boston area dealer posted some
Touareg pics. The movie is sometimes a slow download but is rather cool.