Can't tell you which one to buy, but if you haven't already, I would look at the reliability ratings for each on Truedelta.com and Consumer Reports first. I would also compare prices with Kelly Blue Book and Edmunds. Also recommend looking at Edmunds Town Hall for each model to see what issues people are reporting. I know some of the Subies have been oil burners from that era.
Speaking of Subies, you can get a used Forester for less than an Outback and it meets all your criteria too, although a bit smaller than the Outback (but also boxier which may help in other ways). But again, look into the engine issues first.
All other things being equal, I would choose the newest/lowest miles. In this case, it's an MMM favorite, the Mazda 5.
A "limited lifetime guarantee" doesn't sound like much of a guarantee to me.
