We have a Kia Sorrento. I was so anti-Kia when we were looking for our 4 wheel vehicle that I would not even go to the dealer to check them out. We looked at Nissan (Murrano sp?), Toyota Rav4, Honda CRV, and Toyota Highlander. The Rav4 and CRV did not have enough room for us. They were way too small and we are not large people. The Murrano had tons of space in the passenger cabin, but because of that the trunk space was much smaller and that is where we needed it most. The highlander was not bad, but not great. My father in law mentioned to me how Kia has a 10 year 100,000 mile warranty which made me think that maybe if they are willing to stand behind their vehicles that much then maybe they are not as bad as I thought. I decided to take a look and I am glad I did. Some of the Kia's were what I expected, cheap and cheesy, but others were very nice and solid and comfortable. They ended up having exactly what we wanted in the Sorrento (with sports package). The Sorrento without the sports package would not have been something I wanted, but the sports package really made it that much nicer. We have put that car through a lot and it is still going strong. I would definitely recommend checking them out. They also have a smaller SUV, the sportage, which is more the size of the CRV or Rav4. I was not impressed with the Sportage, but it might be worth looking at if you are considering a Rav4 or CRV too.
It sounds like the Murrano might be a good one for you though. Nissan makes an excellent car and the Murrano is great. If you don't need a ton of trunk space and would rather have that space in the passenger cabin then you might love it.