I've had 2 Highlanders. Passed the first one on to a friend and it's still on the road with over 200,000 miles on it. My 2012 with 70,000 miles on it has been trouble free. There's plenty of room in it for four adults, luggage and bikes on a hitch rack (Class 3) on the back. It's comfortable for long trips. The gas mileage isn't great and it's hardly sporty, but it meets some of your requirements well.
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