Nikon 55-200 4-5.6 VR vs Nikon 70-210 4-5.6

I've read what I could find here and elsewhere but I thought I'd ask:  anyone have experience with both of these lenses and how they compare?  I'm interested primarily in Image Quality (not size, weight, price, etc.) but I'll take any thoughts you might have regarding anything that might effect IQ and performance.  Thanks!