I loathe crossovers, but understand their popularity due to convenience, utility, adaptability, etc. Biggest questions before I could give options are: what's your budget and how long do you want to keep the vehicle?
Fucker
mentioned two Hondas already. They will last a lifetime, but aren't luxurious like you mentioned being of interest. Lexus makes great mid-sized SUVs that are just as reliable (Toyota) and very nice inside. But, they will be more expensive (hence the budget question). I'd personally go with a wagon of some kind, but those are harder and harder to find in these times. Most seem to be German and I'm not sure I'd keep them past warranty. You're likely going to want to shop Japanese or Korean to get the all-in-one car with good reliability.