Given your price range and the list you presented you are probably limited to an Audi Q5 or BMW X5. Both are nice cars but the Q5 is going to be more reliable and comfortable. The 1.8T provides adequate performance with reasonable fuel economy for its size.
With 3 growing kids, it is questionable if this is a good time to downsize to a two row vehicle. I suggest you add a 2015 or later Toyota Highlander to your list. This will be slightly smaller than your Pilot and more reliable than either the Q5 or X5. The Highlander commands a higher used price reflecting is reliability and popularity.
Happy shopping; please let us know hat you decide!