I have a 2007 Hyundai Vera Cruz - with all the bells and whistles. (Leather, dvd, 6 disc) This is the crossover. It looks a lot like the Lexus. It drives great, handling is smooth, it's quiet on the road. The downside with crossovers is most have NO cargo space when the third row is up. I can't even put a decent grocery shop in the back if the third row is up. I would guess I could fit 6 bags back there... maybe? So consider your needs -- will you want to be able to use all three rows AND have luggage behind you? What about grocery shopping? If you can throw the third row down.. then its no issue. Lots of room.
I also have a 2008 Town & Country Touring (Leather, dvd, automatic tailgate, power doors, harddrive for storing music, etc.) Minivans aren't sexy, but they really are the best for carrying around 3+ kids and having room to spare. The cargo space in the back is fantastic... add to that the "Stow and Go" and we have the Swivel n Go seats, so the middle row can turn backwards and there is a table.. great for long trips so the kids can play games. Though technically a 7 seater because of the captains seats I would warn, the town and country cannot fit three car seats across the back row, so if you have a very large family you may want to look at actual seat measurements. The T&C doesn't drive nearly as nice as the Hyundai Vera Cruz. It's night as tight on turns, not as car like.. but again, it is a minivan.
The other Crossover I really like is the Buick Enclave/Chevy Traverse. The reviews have been positive and it has more space then most crossovers.
It has 24 cubic feet of space with the third row in use. That's more then the Honda Pilot if memory serves correctly. (For a comparison) Cargo space is something you don't think about until you don't have it. Trying to save you from making my mistake :) I think my Hyundai has 13cu ft. So if thats a deal breaker for you - something to look for when you're shopping.
Edit: I saw someone mention the Cadillac SRX. My father is actually a salesman at Sewell Cadillac in Grapevine - so I just saw the new ones. They got redesigned for 2010 and don't have the third row this year :( They are VERY nice. My mother has one.. She has a 2007. So if you're looking at used it's a great buy for still getting the third row and getting the Cadillac brand.
One more thing I found VERY useful when I was car hunting was http://www.edmunds.com/ I read the customer reviews on cars I was interested in, it gave me an idea what kind of issues people had, what complaints they had. I also love their True Market Value (TMV) calculator. It gives you a fair market price on the vehicle you want, equipped as you want it. It basically tells you what others in your area are paying for that vehicle so you don't get taken. Love that site. :)