Remember that the LR3/4 has a learning transmission, and adopts to the drivers behavior. In Axels case, it could have been a little old lady's car before he drove it, who knows?
I put 80,000 miles on a V6, and about 8,000 miles on a V8 around the halfway point of my time in the V6.
IMHO, the V6 is fantastic. Excellent torque, and brilliantly mated to the LR3 tranny. Shifting and gear selection performance in the V6 is MUCH better than the V8. It is SIGNIFICANTLY more powerful than the older Rover V8's found in Dicovery's and Classics.
However, I would not call it "better" than the V8 versions. The V6 shifts better, no question. But the extra horses in the V8 make the truck feel more nimble, and gear selection and "tip in" throttle points are less critical in normal day to day driving. If you drive the V6 agressively, it performs great. If you baby it, it will be underwhelming. The V8 however, just does it's thing and you don't ever think about it. Mileage is about the same.
The most telling thing I can say is that after giving LRNA back their V8 and jumping back into my V6, I didn't miss having the V8. I was still pleased with the power and performance of the V6. That says a lot I think.