I did a quick search of vehicles attempting to use most all of the criteria and pretty much ruled out any German vehicle, even VW, due to the maintenance cost restraint. I have owned many of them and inexpensive maintenance is not in the vocabulary, even for a routine oil service at the dealer. Other parts that wear when at or near 75k miles? Hold on to your hat. Yet, I continued to do it for many years because of something special. No, not the prestige but for the wonderful suspension. My Mercedes E55 AMG was as smooth at 140 mph as at 80 mph. The suspension. I have owned two VW Touareg's. Wonderful on trips - comfortable, quiet, but the back seat is tight for 3 people. Maintenance? Don't ask.
And now we turn to my reason for responding - grab a Hyundai Genesis. I roll into the dealer and $25 later have fresh oil, filter and tire rotation. No rattles, not vibrations. Just solid. The V-6 will routinely deliver 29 mpg's at 78 mph. Comfortable, stable cruising. and 5 will fit fine. The suspension is as close to German as you will find. Do I miss the AMG? You bet. But I now have a "George Castanza" wallet with all the money not spent on maintenance. The trade-off was more than fair.
Go test drive a 2009 or 2010 - well within your price range. You're wecome. This is from a 62 year old lover of cars who has owner over 40 thru the years.