I have an 02. It's my second Discovery, and about my sixth Land Rover (the rest were old Series trucks).
I like driving it - the driving position, visibility, and "roadfeel" are great on- and off-road. The cabin is a little small, especially driver's legs, the driver's seat doesn't go back far enough. And the rear cargo area isn't quite long enough to sleep in.
It's louder than I'd like on the freeway, partly due to the roof rack, but it's got a lot less sway than the D1 did - not as afraid it's going to roll over in an avoidance. Offroad, no complaints at all, especially since getting the CDL. Sand and rocks - no problem. In the snow - perfect. Loaded with gear for Burning Man - great. Stack of plywood on the roof - no problem. Dirty dogs to and from the beach - no problem.
I average around 10mpg, which sucks, especially for using it for a daily driver. In 7 years, I've put on 90k miles, $4/gallon premium = $36,000 in gasoline.
Maintenance has been expensive. Aside from installing the CDL - which was voluntary - regular maintenance of brakes is expensive, and oil seal fixes. If you're at all surprised by oil leaks on a Rover, you should stay far away from them. Early on, I had the "3 amigos" but they seem to have sorted themselves out. But all in all it ends up being several thousand a year for maintenance, including tires.
It's tentatively for sale, in the less-than-$5000 range with a few cosmetic problems, and the CD changer is now dead, so even my mp3 jack hack doesn't work. I'm sure it's worth more in parts than it is as a whole, especially for the CDL. I'd consider turning it into a "sandrail" if I had a welder and a tube bender.
Not sure what to replace it with, yet, since I still need to tow a 3000lb trailer. Probably a daily driver plus a road-trip rig.