Between the two, I feel more confident suggesting the Mazda, if only because it's newer.
If you don't need something as large as these, you might also see how well the Toyota Venza (essentially a wider, taller Camry hatchback) and Nissan Murano suit you. I'm somewhat concerned about the transmission in the latter, but the 2010-2012 have been very reliable so far in our survey.
Among domestics, the Chevrolet Equinox and GMC Terrain ride especially well, but aren't bulky. I don't now how much front legroom they have--you can't tell from the published specs, as the front seat is set for a 95th-percentile male, not all the way back. These have been reliable from 2012 onwards--can't tell yet if they'll become less reliable when older.