The Edge should be okay up to 100k miles or so, but I'm not confident about its reliability after that point.
For long-term reliability, nothing beats a Honda or Toyota, which is why they cost much more than an Edge of the same model year.
It's too soon to say how the latest Hyundais and Kias will do when 10-plus years old. They could be better than past ones.
Overall, the safest bet considering what you've liked and how long you'll keep the car seems to be the Highlander. Alternatively, you can spend less for the Edge up front, but spend more a few years from now (and/or replace it sooner, at which point it'll have less resale value than a Highlander would).