I'll be honest, I dont think the "small" SUV's will fit 3 across very well. I have an Expedition 3 kids, 2 in car seats. Its just enough room for all 3 in the middle seat. But, I cant say for sure on the smaller ones. I do know that my 99 Expedition has had no problems and runs great, handles VERY well for its size too. Solid comfortable ride, decent turning. Parking it kinda sucks though sometimes. Handles very well in ice and snow. Really my only "complaint" is the gas milage. If you baby it around it doesnt do to bad, but you even think of gettin on it and you can almost watch the gas gauge drop. But, no big suprises there so.
Explorers do NOT impress me in ANY way shape or form. My friend has one (03 I believe) and my grandfather. BOTH have started having the same problem. The back end just.....sways..... Its not solid and the rear doesnt track true after time. I dont know why, but when I drive them I just dont feel comfrtable as the back end doesnt feel solid enough. It wanders and walks. But, there alot easier on milage then the big boys, and do get around well. It may very well be that they just need to be in the shop for a good alignment. My grandfather doesnt really notice (he drives it like 5 times a year) and my friend doesnt seem to mind.
Durango's I really like. In fact I looked at a RT-10 before getting the Expedition. Fell in love with it. Snappy, good pickup, fairly roomy, good turning radius. All around enjoyable. But, the fully loaded RT-10 was as much as the full sized SUV's so I chose to not go that route. But, a very good contender in my book.
Tahoe's I like. Alot. More then an Expedition in fact. The basics are about the same as far as HP, get up and go, roominess, towing and overall performance. But, I love the style. They look very sharp, gimme a forest green with dark tint... ooohhh... Mufasa.....
In my case if I'm going used I go Ford. If new I go Chevy. Reason is, Ford's depreciate MUCH quicker then Chevy. So, you can grab a few year old Ford at a pretty good price whereas Chevy's are still pretty pricy. Now buying new thats good, but used I want it at "a steal". In your case I'd probably look at an Explorer (I cant imagine the ass walk is a defect but rather needing an alignment) or Durango.
And thats my short summary.....Or something.....