I just came back from a road trip where I drove over 3700 km in 2 weeks in a base model 2021 Hyundai Sonata. Suffice to say, the Sonata proved to be a very nice car for me and my family. I think it had a 2.5L 4-cylinder. But it was so smooth, the 8-speed transmission so non-intrusive, always seemed to be in the right gear. To me it handled like a sports car! It's very low to the ground, excellent aerodynamics. It got 5.2L/100 km (45 MPG) highway. The Sonata interior was great, had Android Auto, very comfortable seats, plenty rear seat room, deep trunk for 3 carry-on sized suit cases plus more bags.
After I got home, driving my 2017 Highlander SE felt like driving a wagon, or a bus, haha. It feels clunky, and to me the interior feels dated. The Highlander definitely has less tire road noise than the Sonata though. But it otherwise feels like a bucket of bolts.
I realize this is comparing apples & oranges. It is not a fair comparison at all. They are different types of vehicles and the Sonata is newer. Plus I've heard Hyundai's are not as reliable as Toyotas. But it really got me thinking why I'm driving a clunky SUV, when a sleek, stealth sedan is so much more fun. Well for me I know why: I tow a small camper and I need the cargo space for many reasons. Often I max out my Highlander carrying loads. I really use it to it's potential. It's a practical tool. It's better on gravel roads than the Sonata, and would be better on slippery roads (I'm in Canada).
So just think about why you really need an SUV? If you legit need it for the space like me, then go for it. The Highlander really is a utility vehicle, but no sport in there. Toyota is reliable if you take care of it. But you really give up a smooth drive with a Highlander. I suppose the newer Highlanders are better.