We got a '13 Hyundai Sante Fe Sport when we had our kid a few years ago, and I already owned a '05 Ford Escape. Here's why we got the Sante Fe
We looked at virtually every small and medium SUV in the 25k - 40k price range(we ideally wanted to stay around 30k or less).
Ford Escapes, Mazda CX5, Honda CR-V, Toyota Rav 4, Nissan Rogue were all slightly smaller in the interior than the Sante Fe, most had smaller back seats and less leg room, and many were more expensive as well (Toyota, Honda, and Ford can easily go over $30k with just somewhat basic packages)
The medium SUVs were definitely larger (Ford Explorer/Edge, Toyota 4Runner, Honda Pilot, Nissan Murano, Mazda CX9) were all definitely bigger, some even having 3rd row options, but pretty much ALL of them were $40k in price and could even creep up near $50k with the nicer packages(like leather) + 3rd rows.
Our Hyundai Santa Fe Sport was $25k out the door, and that wasn't the cheapest, base model, it was a reasonable package with some nice features(like heated seats), but no leather(we didn't want leather with a kid). The Santa Fe is basically priced like the cheaper of the small SUVs, but it's bigger than all of them(just not quite as big as the Medium SUVs that are all $15k more expensive)
We love it so far, coming up on 3 years of owning it and it runs just like the day we bought it. It also gets GREAT gas mileage for an SUV. It's my wife's commuter vehicle for work, so she typically gets 26-28mpg in the city, but when we take it on trips I often get 30-32mpg for highway driving. It's the only new vehicle I've ever bought that got better gas mileage than the EPA ratings. I think the dealership had it listed at 24city/29 highway. We easily beat that regularly in both instances.
Had price been no object, we actually liked the Nissan Murano the best, but at the time a package comparable to our $25k Santa Fe would have run $42k in the Murano. We just couldn't justify the price difference for only liking it a little more.