I think the Mazda CX-5 should be at the top of your list. It gives you some luxury and won't break the bank in the purchase price or maintenance costs. As long as you go 2017 or newer it should be quiet inside. I recommend going for the Grand Touring or Signature trims even if that means going used.
The BMW will likely have some problems down the road and the Lexus hybrid should be very reliable and efficient.
I am not a big fan of the NX because it is based on the old RAV4. Not a very dynamic car and it feels old inside. The infotainment system on Lexuses are the worst in the industry also.
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