Help me choose my next SUV

I’m 29 and looking to buy a vehicle that I’m hoping will be my last one for a long time. I really don’t want to be car shopping again in a few years, so I’m looking for something I can keep for 10+ years.

I have a partner, two kids (10 and 8), and a dog (corgi). We may also want more kids in the future, so I’m trying to think ahead a little. I’m mostly interested in 5 seaters, but I’m open to a 3-row if it makes more sense long term.

And no, I absolutely do not want a minivan 😂

I’m in the Lower Mainland and my budget was originally $20–30k CAD, but I can stretch to around $40k for the right vehicle.

I want something reliable but also nice. Leather seats, heated/ventilated seats, sunroof or panoramic roof, power liftgate, good tech/CarPlay, AWD, and preferably a higher trim. If I’m spending $35–40k, I don’t want something that feels stripped down.

The ones I keep coming back to are:
Acura RDX
Acura MDX
Honda Pilot
Honda CR-V
Mazda CX-9

I’m having a hard time deciding between them. The RDX seems like it would be the nicest to drive and most luxurious, but I’m wondering if the MDX or Pilot would make more sense if we have another kid. The CR-V seems practical, and the CX-9 seems like a good middle ground.

I don’t really like Toyota or Lexus, so those aren’t options for me.

I’m looking for something I can actually live with long term, not just something that looks good on a test drive. I’d love to hear from people who own these, especially if you’ve had them for several years or have high kilometres on them.

Thanks!