Yes! I was originally going to get a 2019 AT4. I test drove one, and like a previous comment said "the seats are horrible!" Before I ordered mine I test drove a 2019 AT4 and thought the same thing, "The seats are stiff and uncomfortable, but maybe they're just so new and haven't broken in yet." I wanted a 6-1/2' box, not the 5-1/2' box. Apparently all the dealerships are mostly trying to sell 5-1/2' boxes because they searched a 500 mile radius and couldn't find a single AT4 with a 6-1/2' box. They told me I'd have to order one from the factory...no biggie, I wasn't in any rush; plus that gave me some time to sell my Ford Escape. Once I got looking at the difference between the 19's and the 20's I noticed the 20's have adaptive cruise control, I ordered a 20 instead of a 19 for only $250 more. Once I got mine the seats were nice & soft, nothing like the stiff-as-a-board ones I remembered in the 19 that I test drove.
It's had a couple issues here and there, but the dealership has been pretty good about fixing them right away. I did have to get the entire nav/xm/radio/etc thing replaced within the first month or so of having it because it wouldn't turn on some times. It still has it's little hiccups now & again, but so does my phone, I guess.
All in all, I've only had it for a about a year, but it's been a pretty good truck so far. My dog likes it too; 14 years old and she still goes pretty much everywhere with me. My dad even just recently bought a 2020 3/4 ton Denali diesel. His only complaint is that his trailering mirrors on his sit up so high they cause a heck of a blind spot up front.