Electric sounds like hell for anything over roughly 200-250 miles.
The Honda HR-V fits your bills fairly well except if you're tall you won't like it. It's a bit of a glove fit, but is comfortable. Dislikes are road noise (I would have it treated for a couple grand), and power is left wanting for anything over 65mph. The amount of room it can accommodate with how the seats move is really nice. Compared to the CRV comfort is way better, the CRV feels like you're driving a bus because the inside has so much room. I bet Mike's suggestions for the larger ones fit more criteria except MPG. Their Odyssey is a very nice minivan, IMO they kill it there, but it isn't what I'd ever choose personally. They don't have anything that lined up hard for me unless the driving is slow and you have it detailed with sound deadening and are not tall.
Toyota Highlander Hybrid is superb gas mileage for the size and power. I find the interior has a little bit of a glove factor but many models are pretty luxurious. They have the Grand model too. The new Rav4 sucks IMO. 4Runner bad gas mileage and not that much room. Sequoia is best gas mileage on a less proven engine, I would only buy the model before and the gas mileage on it is bad but it has the most dependable engine from the last two decades and probably this one in it. A lightly used Lexus AWD TX 350 Hybrid gets pretty good MPG overall.
Better driving cars... The Q5 from Audi is one of the most awarded SUVs ever. The fuel mileage is ok. When it comes to BMW the base X3 has decent fuel mileage. The X5 is really nice but has an absurdly powerful engine three times more powerful than you need for decent MPG or general use. I like these two choices a lot, they fit the "planted" bill probably better than everything but the tiny HRV.
In my personal options Mercedes, Chrysler/Dodge, Nissan/Infinit, Mazda (paint), GM/Chevy, have all been ruled out for maintenance, dependability, and other issues.