I bought the 5616-20 to use in my tablesaw extension. I bought it after the recommendation of the folks at WoodHaven. They like it because of the 'above-table' adjustability, thus eliminating the need of a router lift ( at $200+).
It falls a little short in that you can't exchange bits above the table. Reaching down under is a drag.
When I hefted the Milwaukee, I got enthusiastic about the Body Grip design, and thought I would use it for portable router use. A number of folks on this and another forum discouraged me from that and so I bought a Festool to use off the table. Their rationale was that I would really get tired of removing and then replacing the Milwaukee in the router table.
As a router, it is quite nice. I don't use monstrous bits, so there isn't ever a lack of power. Mine is enclosed in a Jointech dust cabinet, so it is relatively quiet and clean at all times. A review in Fine Woodworking magazine of routers used in tables liked most of the features on the Milwaukee, but criticized the awkward switch location. I circumvented that concern with a remote switch ($15), an item necessary because of the dust cabinet and because it automatically triggers the dust collectors.
If you are not in a hurry, watch for the sales on Amazon.com. I got mine for $150 from them. The 5616-24 is a bit more, but you want the plunge base that it comes with. Seems like a good deal.