The Motorola app doesn't suck completely. It also deals with video conversion and lifting photos from the phone for you.
It WILL synch with your iTunes, including preserving playlists. I'm talking non DRM. Not sure what happens if there's DRM from iTunes store.
Now, I swear it brought over Audible but I need to do more testing.
Windows only and free:
Motorola Media Link - Motorola USA