I've got three suggestions for you-
2010-2011 Mazda CX-9
2008-2012 Nissan Pathfinder
2007-2008 Lexus GX470
Mazda CX-9- I have a 2012 CX-9 and, other than in my Volvo S60, it has the most comfortable seats in the world. The interior materials are nice and seem to hold up well over time. It has the handles as well as my old Mazda3 and it has a lot more power than you'd expect in a vehicle of this class and size. It has been very reliable according to all reports I've read online and in my own experience. I have 44k miles on mine and it's like brand new. It also is a true 7-seater if you ever need that much space, but it has the flexibility to be a great 5-seater as well. The middle row slides back/forth for 3rd row legroom so it is very roomy when 3rd row is not in use. Tons of cargo room also.
Nissan Pathfinder- I've always had an affection for the previous generation Pathfinder. They're solidly built and a great value on the used market.
Lexus GX470- A mechanical twin to the 4Runner. But the interior comfort, quality and features are several grades above what you get in a 4Runner. They're actually excellent off-road vehicles, but very few of their owners have ever left the highway.
Regarding the 4Runner- I am a big fan of the 3rd gen (2003-2009) 4Runner. I recommend the 4.0L V6 over the the 4.7L V8 because the power difference is minimal but the fuel economy isn't. Both engines are rock solid for 250k+ miles with decent maintenance, but if/when they break the V8 is a much pricier fix.
About the MDX interior durability- if you find an MDX with seats in good condition, that means the prior owner took care of them properly (which means cleaning and conditioning them regularly). Sadly, most owners don't. If you find a good one, it will remain in good shape as look as you maintain the leather.