So I have to ask
Does Properly cooked Brown Rice taste like this?
It tastes overcooked, soggy and mushy, and undercooked, hard and almost crunchy, at the same time?
Or is there a way to prepare it better?
Too moist, you need to cook it very slowly for a long time with minimal water, steaming is ideal.
I generally use the same method I use for white rice, rinse the rice (less critical for brown) add the right quantity of water (It's about one part rice to 2 parts water).
Note if you rinsed the rice it will now already contain water which makes working out the quantity of water to add difficult. The solution is to rinse the rice by putting it into a measuring container, add the 2 parts water, note how high the level is. Then rinse using that water. After draining it out top up to that line again. Then put that into a pot, put on a medium heat until it starts to simmer, turn the heat right down as low as possible and put a lid on to let it absorb.
White rice it should take like 7-10 minutes, brown... uh, 20 maybe?
If you're not sure check it every 5 mins to make sure it hasn't boiled dry or stuck to the bottom of the pot and burned.
The rice when done should be expanded slightly, the rice inside visibly trying to break out of the husk but not puffy and starchy. It should be soft but chewy, not crisp at all. Though you're welcome to cook it until it's sticky if you want, it makes nice nutty flavoured rice puddings.