Absolutely
I've owned two Model Xs sequentially -- a 2019 Model X P100D, and most recently a 2022 Model X Plaid. The software in both the car and the mobile app was rock solid. Given Tesla defined this area, and have been evolving it over the better part of a decade, we shouldn't be surprised they have the lead here. Having said that, I have no doubt Lucid (a much younger company) will continue to improve their software over time, and let's face it, they're leaps and bounds better than what Volkswagen and countless other EV manufacturers are foisting on their owners.
As far as interiors go, in my lived experience, the evolution from the 2019 to the 2022 interior on the X was nice. Things were a little more resolved, and build quality took a huge step up. However, the nature of the car (specifically, the falcon wing doors) made it super squeaky and creaky over time. Someone here referred to it as being as creaky as a pirate ship, and I couldn't agree more. Neither of my two Xs were like that when I drove them off the lot new, but a year or two into the ownership experience, the squeaks and creaks crescendoed and despite many service visits, they were never quieted. If anything, they got worse.
I traded my 2022 Model X Plaid for the Gravity Dream Edition and am still floored by the utility of this car. Both of my Model Xs were the six-seat variant, and, in hindsight, there wasn't much 'utility' to be had, as the middle row seats didn't fold flat, so were useless beyond hauling people around. The third row seats were equally useless, and when folded flat, they did increase cargo volume somewhat, but the sloping rear end significantly reduced the ability to haul large boxes or tall cargo. And the middle row, while comfortably accommodating two people in the captain's seats, was also very sparse -- no arm rests, no grab handles (as you mentioned above), no door pockets for holding things on long drives, etc.
Apart from much better space utilization, there are myriad other things the Gravity (and Lucid in general) just does better. Noise isolation is one of them. The gravity is sooooo quiet inside, and the interior materials and craftsmanship make the spartan X interior feel incomplete by comparison. Everything you touch in the Gravity interior feels premium. The ride quality is next level vs the X, as is the handling -- some of that due to my Gravity being optioned with the dynamic handling package (triple chamber air suspension and four wheel steering). I liked driving my X, but I LOVE driving my Gravity.