I searched a lot of models before buying the RAV4 six months ago. The RAV4 was the only one I found that: 1) a 6'3" guy like me could fit into comfortably - I am long torso and headroom is always a challenge, but the height-adjustable seat and telescoping steering wheel did the trick. 2) Properly equipped can tow a modest camper or boat. 3) Would still get into the upper 20s for highway gas mileage. The V6 RAV4 has done all that and more for me. I am getting 22-24 mpg around town and 26-28 highway so far.
Interior room is much bigger than the exterior suggests. The V6 power is fun and helpful when passing on 2-lane highways, with little or no gas mileage penalty compared to 4-cyl. models. Seat is very comfortable. Large storage compartment under the rear deck (without 3rd row seats) is very handy.
Throttle control could be a little less sensitive. Base stereo needs improvement; I had to replace the terrible stock speakers to make the system livable.