I did an extensive research for almost two months in the mid-size suv market and never found anything that compared to the MDX. If you're looking in the 35k to 40k price range, make sure you check out the MDX. I had an Expedition for 5 years and this feels just as big inside, which I did not expect. I love the ride and the feel on the road and you will too.
XM and On-Start are great and you can only get that on the 2005 model. The navigation and rear camera are great features and make it fun to drive.
Just find a way to get a little better gas mileage. I did get 20 mpg on a recent trip, so it's not so bad.