There are cars and SUVs with a lot more leg room than average. US News and World Report lists them all. They all have about 41 inches or more (for legs):
From most leg room to least generally speaking:
Kia Optima, Ford Escape, Chevy Impala, Land Rover Discovery, Subaru Legacy, Nissan Altima, Kia Cadenza, Cadillac CT6, Hyundai Sonata, Toyota Highlander, Subaru Outback, Ford F-150, Ford CMAX Hybrid, Genesis G80, Genesis G90, Ford Explorer, Subaru Forrester, GMC Canyon, Chevy Colorado, Nissan Rogue, Ford Flex, Ford Expiedition, Mercedes Benz G Class, Chevy Silverado, GMC Sierra, GM Full size SUVs (which you tried one).
Unfortunately, your best bet for more space there are more cars than SUVs according to US News. You will have to try them out to see what you like.
Relatively reliable ones and have not changed in the last few years are the Kia Optima, Ford Escape, and Chevy Impala. Land Rover is very expensive and not reliable - don't get it. Subaru Legacy is surprisingly one of the bigger models. Toyota Highlander may be your best bet in the SUV class.
I will be curious as to what others recommend. Best of luck.