Not sure what your preferred utility --- comfort/gadgetry/coolness balance is. Kia will be towards the right. Honda/Toyota can be all over the place, depending on the year and how it was specced. Toyota will be slightly more right than the Honda. You'll find your Subarus far to the left. The Nissan SUVs aren't that good in my opinon -- I got the distinct impression when driving one that they were built much cheaper than the other's.
When it comes to utility, hard to top a Subaru. It's hard to find one in your price and mileage range, though. They're expensive, but built like a tank and will get you through anything. They are lacking a bit on mileage, but that's to be expected from the AWD guardian angel. I'm a bit biased though. I have a '99 Impreza Outback with 50,000 miles. It's an amazing car.
Based on what you wrote, I'd narrow it down to Honda, Subaru, or Toyota.