Of the two cars you are currently considering, the RAV4 would be my choice based on its excellent record of longevity. Read on if you want to look at other models.
Since you are a current, happy GM owner, there are a several GM fans/experts that frequent this site who I'm sure will give you the low down on what might work from GM.
I'm gonna be the contrarian here and suggest you not overlook Subaru. They tick off your boxes and their CVT is actually pretty good - considered one of the best by most. The bonus that while not a lot of SUVs in your price range have a full set of modern safety features many 2015 -16 Subarus do. You should be able to find a good used 2015-2016 CPO Forester or Outback with an extended warranty within your price range. Their apparent Achille's Heel is that somewhere between 5-10% burn oil and may need a quart every 2,000-4,000 miles as they age (2-4 yrs). However, actual engine failures are rare as long as one knows how to check the dipstick, do it regularly & top up the oil as needed. Given you currently drive a couple large GM sedans which are known for their comfort, you would probably prefer and plusher Outback over the more utilitarian Forester.