My first question would be why are you wanting to get rid of your 2015 Toyota Highlander? Is it fuel economy, high payments or some other issue that makes you want a different vehicle? That will help to narrow down the best fit for you in a new SUV/CUV.
Without that information (and you didn't specify a budget), I'm going to give you my general recommendations and suggestions-
As much as I hate to say it, I would also be apprehensive about buying a Subaru with the ongoing oil consumption issues. Even if it only affects a small percentage of their vehicles, I wouldn't take the chance.
The Mazda CX-5, Honda CR-V, Nissan Rogue and Toyota RAV4 are all going to be more reliable than most, so it's a toss-up in that area. The Hyundai Santa Fe Sport appears to be reliable with the 2.4L engine, but the 2.0L has had some problems.
The Mazda CX-5 has the distinction of being the quickest and most fuel efficient of this group. The Hyundai Santa Fe Sport 2.4 is at the opposite end of the spectrum, falling slightly behind the other three in both acceleration and fuel economy. That's not to say the Hyundai's a bad choice, it's just a question of priorities and personal preferences.
I've watched some interesting tests of the AWD systems in the Subaru Forester, Mazda CX-5, Toyota RAV4 and Honda CR-V. Most of them were comparisons of at least three of them. The Subaru didn't disappoint, but the Mazda's AWD system peformed almost as well in most conditions and even better than Subie's in a few areas. The RAV4's AWD system was the least impressive and the Honda CR-V's AWD was acceptable but not exceptional. These videos were done by various automtive publications/websites and I can't swear to the outcome or validity of the tests. But when a pattern of the same one or two vehicles winning in comparison tests emerges, it makes the results much more believable.
My pick would be the Mazda CX-5. I had to take a quick refresher course on the Candian trim levels since they're different from the U.S. We have the Sport, Touring and Grand Touring, while you have the GX, GS and GT which roughly correspond to ours. Based on your wants/needs, I'd suggest the CX-5 GT AWD. It has standard Navigation, heated leather seats, rear view camera, Blind Spot Monitor w/ Rear Cross-Traffic Alert, Bluetooth and Push Button Start (along with Advanced Keyless Entry). The only thing missing from your options list is a heated steering wheel, which is going to be difficult (if not impossible) to find in this size/price class (based on U.S. versions, at least).
The CX-5 GS AWD has Navigation, Bluetooth, Blind Spot Monitoring, Push-button start, heated seats and backup camera also. The GS doesn't have the GT's LED headlights, Advanced Keyless Entry, Bose audio system, 19" wheels, power passenger seat or automatic climate control. The GS also has standard cloth upholstery, but the 'GS Luxury Package' upgrades it to leather, like the GT. Otherwise, they're functionally the same.
One final note, the GT has one option package available- the Technology Package. It includes Smart City Brake Support, Forward Obstruction Warning, Lane Departure Warning, Mazda Radar Cruise Control, Automatic High Beams and SiriusXM. It may or may not be of interest to you, but I thought I would mention it.
Beyond the Mazda, I feel pretty ambivalent about the rest. The CR-V and Rogue have CVTs instead of conventional automatics (and I hate CVTs, but that's a personal bias). The RAV4 and Santa Fe Sport are competent, but just too vanilla, IMHO.