If off-road capability isn't a concern, I'd take a good look at the Highlander.
The CRV and Rav-4 are definitely nice, but I don't consider them to be mid-size.
I lament the passing of the older SUVs - it seems that in recent years they have lost their ruggedness in design. Case in point: The Pilot is essentially now an AWD Odyssey. Still a great SUV, but...
Look at the commercials, where the SUV driver goes "off the beaten path" - the roads and puddles that they are going through are easily navigable by my 2wd sedan.
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