If I followed there still needs to be size for family and camping but no offroad plans. Since there's no offroad needed then the focus should be for on road manners(rules out Jeep) with a splash of AWD. I saw a mention of altitude so snow is a consideration.

My dad has that MDX and similar requirements. First and foremost it needs to be comfortable for a multi-hour drive(76 years old and a not so good back). Check. Good tires and AWD system if he ever actually comes back north in winter, Check. Third row for when grandkids show up. Check. Decent acceleration, Check. Some prefer the Lexus RX or Highlander counterpart and that works too. He also bought a lightly used Cadillac in the same size class this winter.

While not my cup of tea the MDX hits a lot of boxes and sounds like similar needs. All of these are better on road than my 4Runner, though not nearly as cool

When you get right down to it there's only a handful of vehicles in this class. Another option is to move up to the full size SUV, Sequoia, Tahoe/Yukon, etc. Might need to be lightly used to fit under the price requirements.

Looking at those RAV4 Hybrids or Prime

RAV4 Prime.....just deciding on SE or XSE trim...

We already have a Rav4 hybrid. It's fun for town (it's the wife's car) but we want something larger for road trips and honestly something that is quieter - more luxe. I've decided to hold off until after the new workshop is built next spring so I can get the full use of the garage back to storing cars.
Should have a better idea of the new GX by then as well as whatever that Highlander XL and if they will be doing a Prime version in the next year. Or may just get an X5.

Highlander. More available features than the 4R, better on the road (I'm assuming), and Toyota quality. Having said that, I won't be getting rid of my 4R for a couple more decades.

If you ever want or need to go offroad, say across sand or through deep mud, I don't think there are too many vehicles that can replace a 4runner.

The wrangler ergonomics and the way it drives makes you think it was designed in the 30s or something, and a pick up truck is no replacement for a 5th gen 4runner.

I wonder how those new Broncos are on the beach.

This may sound off the wall, but given what you've said about your preferences so far, you might want to give the Kia Telluride a look. Here's Car & Driver's long-term 40,000 mile review.

Wife had a Hyundai Tucson before the Rav4.

Horrible car.
Horrible service.
Horrible company.

I'll never own a Korean car again.

If I had to replace our 5th gen it would be a Tundra crewmax SR5 or Land cruiser (96+).

Since I tend to buy cars that I plan on keeping, I gravitate towards base models, if available, for simplicity & to avoid electrical issues but if I knew I was going to change vehicles every few years I'd include a 4th gen GMC Yukon & 3rd gen F250 crew cab diesel into my options. All in 4WD.

That long heritage is out the door with Jeep being Chrysler Fiat owned

Traded our 19 4R Nighsthade for a 21 GX460 a few weekends ago. Love the Lexus!

Yet, that long heritage and demand account for its sky high resale value on par with the best of Toyotas….

Were you able to get a good deal on the Lexus?

Ineos Grenadier. I am not affiliated to Ineos in any way, just really like what they are doing.

Ineos Grenadier Walkaround! - YouTube

Opinions, thoughts from Andrew St. Pierre White
INEOS GRENADIER or LAND ROVER DEFENDER. Which one would you buy? - YouTube

I technically paid sticker, but I got another 2500 out of my trade from negotiations so which bucket it came out of I didn't much care.