I would go with a Highlander. We had an 03 V6 AWD and it was great. You could go with the hybrid (maybe not worth the $$) and get the best mpg of all the ones you listed. 2nd choice: 4Runner V8, mpg suffers little from the V6 and a lot more power. I personally would take a Toyota/Lexus over the rest. I have always had good luck and high resale.

Good luck,
Nick