The Subaru CVT transmissions and engines are not known for being the most reliable. The only reliable CVTs I've heard of are Honda's and Toyota's. Oil consumption used to cause a lot of head gasket failures in Subarus.
Some comments on what you suggested:
The 2018 Toyota RAV4 is a great SUV. It provides a cushy ride and a quiet interior. All safety features are standard in every trim and they work well. It is a very easy SUV to live with. The infotainment system is extremely easy to use and outward visibility is good, too. It is just kinda boring and the handling is not as good as a Mazda CX-5, but better than the other cars on this list. For 2017/2018, they added more sound deadening and a softer suspension. It fits all of your priorities perfectly. It is the most reliable small SUV and one of the most reliable cars on the road. It's getting long in the tooth, but it is still the better choice compared to the others on your list.
The 2018 Ford Edge is a decent SUV. It isn't the most reliable and owner satisfaction isn't too high. Safety features aren't even available until you get to the most expensive trims, which would be a total deal breaker for me. The RAV4 has these standard on the bottom trim and they are more advanced than the Ford's system. Visibility is not as easy as the Subarus or Toyota.
I rented a 2017 Escape SE with the 2.0T for a few days and I didn't like it at all. The chassis and insulation felt kind of substantial, but it feels super top-heavy like the SUV will flip with a slight turn. I've never felt this in a car before and was puzzled. It only had 3k miles. The interior was horrendous compared to its competitors. Poor visibility out of the front and rear windshield plus flimsy fit and finish. The 2.0T engine was nice, but there is a lot of torque steer and made the power overkill. The Escape is also unreliable according to TrueDelta, Consumer Reports, and Carcomplaints.com! Thumbs down; it needs a big redesign. Like the Edge, the Escape is not available with safety features on the middle or lower trims. It is a popular car, but it doesn't mean it is good. Much of those sales go to rental fleets.
The Equinox isn't even available with adaptive cruise control. Otherwise, it is OK. It is bigger than the other SUVs and is slow with the base engine. It isn't well-equipped with safety features on the lower trims. The Equinox has not had a good reliable history like the RAV4/CR-V has (CR-V before 2017). If it weren't for the fact that safety features are not too accessible in your budget, this could be a good car for you. These safety features are life-saving, so it isn't good to skimp on them.
The Outback is great if you need AWD and a lot of space. It gives you a smooth ride and handling that is kind of sloppy. It is definitely tuned for comfort and not handling. It has a CVT and a boxer engine, which is not a good combination for driving enjoyment or reliability. Reliability isn't bad, but it isn't Toyota or Honda status yet. The Subaru infotainment system I've heard is junk. It is surprisingly expensive, but I've heard it is a very good wagon.
Pretty much everything is great about the new Honda CR-V, except the reliability on TrueDelta is not good. It is the leader in the small SUV segment right now aside from reliability. Safety features can be found on most trims.
Please tell us what you decide on! Good luck