For 15-year reliability, nothing else comes close to a Toyota or Honda. Definitely not a Ford, though they're okay up to 8-10 years.
I haven't tested the RAV4 since its suspension was softened for 2016. From 2013 to 2015 it rode very firmly.
You should also test the Honda CR-V. I'm not a fan of its styling, but it might ride better than the Toyota.
In both visibility is pretty good orward, not as good to the rear.
The Subaru Forester beats pretty much everything in outward visiblity, I but have less confidence in its long-term reliability.