We did the CR-V option. No real regrets a year later. I wish it got a bit better gas mileage, but we drive so little (3k mi/year, only one car) that it basically doesn't matter. Safety options, reliability, comfort are all good. 2 kids (6.5 and 1.5) + two rather tall adults (I'm 6'3"). I like that it's still smaller than a minivan for city parking. It wasn't the most mustachian option available, but we're higher-income and it seemed like a pretty good trade off. I'm planning on it being our car for the next 14 years. Previous one was a Ford focus that lasted 12 or 13.
(Edited to add: it's very possible I am naive about not needing a minivan in 5 years. I'm pretty stubborn about not driving, though. We'll see. :-)