You want car like ride, don't need 4wd/awd... want a little more space than the Rav4 and have a price point mentioned of $15-20k. Wife would like a 3rd row, but isn't beholden to it, correct?
a) Toyota Venza - built on Camry/highlander/sienna mechanicals. 5 seater. Hatch. Premium finishes available. Its more "tall wagon" than SUV. FWD (or awd).
b) realize that ALL family oriented SUV's are really just trying to be the ideal vehicle - A Minivan. Raised ride height. fwd (toyota does offer awd). Plenty of room for anything - dogs, kids, grandkids, gokarts for grandkids (
) Easy operating sliding passenger doors with large openings for friends/family. With all seats out.. 140 or so cuft of capacity.. Even with all 3 rows up, 40cu ft. Top trims have all the luxury car stuff - leather, nav, sunroofs/moonroofs etc.