The RDX performs well and is clearly well made. It drives like a sedan. It is a very good car for a single person, but storage space for families on trips is relatively poor, especially given only 20 mpg. Bringing a stroller severely limits baggage space. The reality is that if you are going to get poor gas mileage, you might as well buy a larger SUV. My 4-Runner gets about 20 to 22 mpg and has far more space. Seats are very comfortable as long as the ride is on a smooth road. Bumps are unpleasant for back seat passengers. Steering is tight and car handles nicely.
Nice technology (bluetooth, stereo, XM, etc.). Handling. Finish.
Enlarge storage area behind rear seat. Loosen suspension slightly to reduce jarring on bumps.