I think this is one of those situations where I'm going to say the
manufacturer is "right" and you're experiencing operator error, but
someone looking at the situation from another perspective would say
that the manufacturer used an inappropriate pedal layout for the
vehicle's target market. I say this not to be mean or derogatory but
an enthusiast driver will often complain that the gas and brake are
too far apart, and that it is too difficult to hit both with the right
foot simultaneously. One would want to do this for a vehicle with a
manual transmission to facilitate rev-matched downshifts, among other
things (but that's the most common example.)
Where this causes problems is when a pedal layout appropriate for a
sports car is used in a vehicle popular with non-enthusiast drivers
(I'm suspecting that this is what happened with Audi) either because
of using an already designed pedal cluster that was used on a sporty-
type vehicle or because of footwell space limitations; the situation
you describe can happen with drivers who aren't used to deliberately
moving their foot all the way off the accelerator and onto the brake
pedal.
So, really, who's right? Who can say. I haven't driven a Murano, but
from your description, it sounds like a pedal layout that I personally
would consider "correct." However, clearly you do not... That said,
I see other posters have responded asking about the height of the
pedal. If it feels soft or spongy at all, you may want to have the
dealer take a look at it; I agree that the brake pedal usually in
most vehicles is at least at a slightly higher *plane* than the
accelerator.
nate