I've always owned Jeeps, so gotta throw the hat in the ring for a Grand Cherokee. That would be my SUV of choice, if I were in the market for anything resembling a mid-size SUV.
I know a lot of folks will bring up quality issues with Jeeps, but I've owned three of them (93 Cherokee, 04 Grand Cherokee, and a 16 Wrangler), and never had a major maintenance or quality issue with any of them. I'll always own at least one model of them, especially living in Colorado where I can take full advantage of them in the snow, and on trails.
Granted, I don't have a family or kids, so I don't need, nor am I familiar with, all the amenities in SUVs nowadays that cater to families and kids. But just as a reliable, capable vehicle that can fulfill those SUV chores (including daily driver and offroading), I'm a Jeep lifer.