The Hyundai Santa Fe is definitely your best bet! My best friend has a 2013 Ford Explorer (company car) and my neighbor has a 2014. Both have returned to the Ford dealer for warranty repairs multiple times and my friend's 2013 still has ongoing major issues. By most accounts, the Explorer is NOT a reliable or durable vehicle. The Hyundai is better looking, higher quality and has an exceptional warranty. If a Heated Steering Wheel is a requirement, the Santa Fe is your best choice and the best value.
There are two different Santa Fe trim levels- GLS and Limited. The Limited's base price is $3,900 higher than the GLS, but once you add the option packages required to get the heated steering wheel, the difference is only $1,200. The big difference between the two is the 2nd row seat arrangement- the GLS has a 40/20/40-split bench seat while the Limited has two captain's chairs. So the GLS is technically a 7-seater and the Limited is a 6-seater, but the Limited also has much easier access to the 3rd row and much more comfortable 2nd row seats.The only features exclusive to the Limited are Xenon HID (High-Intensity Discharge) Headlights and LED Taillights. Well worth the $1200, IMO. Also, the Limited with Technology Pkg is going to be much easier to find than a GLS with Premium & Technology Packages.
The other benefit of the Limited is more interior/exterior combination choices. The GLS has Gray or Beige interior depenind on the exterior (only the White lets you choose between Gray and Beige). In addition to Gray and Beige, the Limited offers the option of Black interior (with White or Black exterior). The Limited in White, Black or Iron Frost (Gray) also has the option of a Black interior (dash/carpet) with Saddle Brown seats. It looks like a $50k+ vehicle with the Saddle interior, IMO. =)
The Hyundai's Basic (full) Warranty covers 5yrs/60k miles, the Powertrain is covered for 10yrs/100k miles and it has Roadside Assistance for 5yrs/Unlimited miles. I also checked on depreciation and operating costs and the Santa Fe is at the head of the class on both counts! The Santa Fe also has a few features that are rare in this class- the front seats are heated AND ventilated (cooled) and the 2nd row seats are heated!
The Limited with Tech Pkg stickers for $39,525 and you should be able to buy one for around $35,500 (per KBB and TrueCar). GOOD LUCK!!!