The Acura MDX is a true SUV because it sits on a truck platform, while the Acura RDX is a crossover SUV because it rides on a car platform. Technically speaking, the MDX is the smallest and only SUV from Acura, although the Acura RDX is probably the better and smaller option—unless you’re towing.
From what you’ve described, the Acura RDX is probably what you’re looking for. It has a sizable cargo area, space for five passengers, and the cabin is elegant and roomy. However, the MDX provides an available 355-hp V6 and up to 5,000 pounds of towing capacity if you’re looking for a bit more utility.