We purchased our Legacy in May, and put 7,000 miles on it this summer. This is the first motorhome we've owned so I don't have any points of comparison. We are continuing to work through some issues, apparently like everyone does with new RVs. The QC departments at all manufacturers really need to do a better job.
That said, we have been pleased with the support from FR thus far. And we do love the Legacy when everything is working. I was concerned about the wheelbase before we bought it - seemed short relative to the length of the coach. But after 7,000 miles of driving it, I like the way it handles. We encountered VERY strong crosswinds when traveling through Nevada and Utah. All RVs are sailboats on wheels but the Legacy was stable enough for me, even at 70 mph or higher.
I wish the factory had worked through some issues before it got to me, but I do not regret buying it, and our family looks forward to the next trip.