Our Murano was rarely driven less than 10 miles or so. But it routinely did 20 or better. And my wife NEVER coasts, only gas or brake!
I do think it's outrageous that a 4000 pound luxury car with a 6.1 liter engine rated at 425 HP gets the same mileage as your 3.5 under any conditions.
BTW, it has been my experience that many imports need some serious miles to attain max fuel economy. I bet yours improves at 10k miles.