Looking for a luxury SUV for daily driver duty, and to tow ~5,000lb around the country every couple weeks.

I currently both daily and track/autocross my Miata, but driving that tiny thing over 200 miles to some events is getting to be a PITA (not to mention burning up my nice sticky 200tw tires). I also want to upgrade its suspension to a more competitive spec for its class, which would make it awfully stiff for daily duty.

I'm looking at getting something that can haul it to and from events in relative comfort, and replace it as a daily driver. My only hard requirements are a good track record of reliability, comfortable seating for 5 people, a >5,000lb tow rating and ventilated seats. Fuel economy, especially under load, is a big plus though, and has me looking at some diesel offerings. Lane keeping would also be nice for long hauls, as well as any other creature comforts that would make the car a nicer place to spend a lot of time.

I'm flexible on price, but would like to keep it under $30k used unless I'm really getting something for the extra money. I am comfortable performing major mechanical service, so maintenance costs would mostly fall to parts cost/availability. Cars I have considered:

• VAG TDI Touareg/Q7/Cayenne: These seem absolutely perfect, but especially the Cayenne seems to have an enthusiast premium attached for later model years. Would also be limited to <2016MY cars.

• BMW X5: Though they had a TDI offering, I would probably prefer a B58/ZF8 model, since it's just such a good drivetrain.

• Jeep Grand Cherokee: If I'm being honest, I really don't trust Jeep. But I have a friend that tows his car with one, and it's actually a really nice ride.

• Wildcard: Old Shitbox Diesel Truck: If there's some old Cummins-powered truck or SUV with surprisingly good seats and road isolation, I'll hear you out. I want to be comfortable on long hauls, but am not a badge snob.

If anyone can talk me into/out of one of these, or has other suggestions, I am all ears!