I have heard all the horror stories about VW dealerships and even had a pretty bad experience myself with one when I had my '98 Jetta TDi but I really like the Touareg with a TDi(not the V10, that thing is too much and I understand it has some pretty big issues). I'm only 5'10 so I doubt I would have much of an issue with getting in and out of it. My old boss had one of the first ones(the ones with a very bad reputation) and I don't recall any issues with egress or ingress.
If I were to get the JGC, it would have to be used and I would actually prefer to get whatever I buy used because they're cheaper....
I am to the point where I really don't want anything but a diesel but if push comes to $hove I will buy a less expensive gasser like the Tacoma or even an older Jeep Cherokee for my off road capable ride.
I really, really like the Audi allroad but they have some air suspension gremlins that never really go away. They also drink premium unleaded like it's going out of style. If only we could get a TDi allroad in the states....