My D7000 does not focus properly with several lenses. I sent the body to Nikon and it came back with a note there are no issues with it. But it still can't focus some lenses, the 16-35, 24-70, among them.
It seems like the DX lenses focus much better than the FX lenses.
It really is a pretty worthless camera when it comes to focusing. It cannot do any kind of follow focus with the 24-70.