I've heard really good things about the CRV - so, that one.

If your main criteria is AWD, camping, and outdoor trips, I would get the Mazda CX-5. Based on the reviews, the CX-5 has higher ground clearance, better all wheel drive system, and nicer to drive than the CR-V and RAV4.

For comfort, quiet, and bang for the bucks, I would get the Honda CR-V. I'll wait for the 2017 version. If not, you should get a very good deal (less than 2-2.5 k below invoice) for the 2016 in this area. The CRV also has many new safety technology.
The Toyota RAV4 is probably the most reliable mostly because it's using existing and proven technology.
Go for Ford Escape if you plan to get another car in 3-5 years. The resell value is terrible.

CRV

We just went through this and ended up with the Mazda cx5. Some quick thoughts:

The only small SUV that can tow anything is the escape...we have a truck for our trailer and boar, so this wasn't a big deal but the Japanese ones can only tow 1,500 lbs.

The CR-V doesn't have a real and option. At most you get 20% power to the rear. The escape is 40-60, as is the Rav 4.

The CR-V and Rav 4 are both woefully underpowered. The escape with the 2.0 turbo is an absolutely beast and fun to drive, but expensive. The cx5 is also very peppy.

CR-V has some cool sweety features and a great trunk. Rav 4 also has really good interior layout. Both are basically unchanged for a decade and continue to sell well.

Bottom line decide what's important to you, and how much you're willing to pay. There isn't a quality issue here anymore between the domestics and Japanese, and in fact the escape is probably the class of the group, but it isn't what everyone needs.

We looked at all of these and went with the Mazda CX-5. It's fun to drive and had the roomiest driver's seat, which was important for my tall spouse.

I did a really, really close comparison of them all this summer. CRV won for me for a few reasons:

- The vertical cargo room is significantly taller than the others. This was a big deal to me, and a few inches makes a big difference in that kind of SUV of if you can fit something in or not.

- The dash and center console was laid out much better on the CR-V for my preferences.

- The Rav-4 seats fold down and the head rest catches on the back pocket of the seat if you don't manually fold it down first. We looked at a few used ones and they ALL had ripped/stretched out pockets on the back of the seats due to that. Even after knowing it was an issue, I put the seats down at least once and forgot about it while looking a the car. I put the seats up and down a lot and knew I'd end up ripping that in my car. Very bad design. The way the CR-V seats fold down is quite a bit different (the seat portion folds up and the back folds down almost completely flat, the headrest automatically folds in) and was a huge thing that set it apart for the way I use my car.

I went with the CR-V with the top trim package and don't regret it at all. I guess how it looks is personal preference, I don't find it ugly and prefer the smooth lines of the CRV over some of the more jagged edges on the Rav-4 (although it wasn't a deciding factor at all for me). I can't remember some of the other details, I think the Rav-4 and the CRV were the same on this, but be sure to look at if there are memory seats/2 memory seats if that is important to you. That was a deal-breaker on some cars for us - had power seats but no memory.

Love my CR-V! And I was coming from a Lexus... very happy with the CRV, lots more usable cargo room.

Rav4 ! Eliminate the Ford right out of the gate. Honda or Toyota - crv is ugly. Sorry I'm a lifelong Honda consumer but blech. Ugly... rav4 wins hands down.

We are getting a ford for our next SUV. Drive them and see what you like best. Our Ford is 20 years old and running strong.

*or a small big car!

Like PP, I've had my RAV-4 a long time - since 2006. I love it and can't imagine ever driving another kind of car again. It's very roomy inside, but drives easily. I always call it a big small car of a small bug car. I am curious about the new ones, since they have buried the tire and the back now opens up and down rather than side to side. I treasure side to side, and will miss that! But still a great car overall.

I have a 2001 RAV-4 that I bought brand new. In January, I will have had this same car for SIXTEEN years. I have never once had to put it in the shop for any type of major repairs except to replace the cluttch. That's it. I just took it for a car wash this past weekend and couldn't believe how beautifully it shines up. It looks and drives as beautifully as the day I drove it off the lot. It is also ridiculously inexpensive to maintain and fuel. I will seriously never own another car other than a Toyota. The bonus is that my RAV also handles like a champ in the snow. Get one. You won't be sorry.

No ford. Honda or Toyota is a much better choice.

I absolutely love my CRV. Had a rental 2015 Escape for a week on vacation and it felt cheaply made to me and I didn't like how it drove.

Fords have gotten better over the years but I still think their quality leaves a lot to be desired.

Rav 4 would be my second choice.

Also consider the Subaru Forester, perhaps? We test drove that one in the process of buying our CRV and really liked it. But we've always had Hondas so we just went with what was familiar to us

I have a ford escape and wish I got the rav 4 instead. Toyotas are made better and last longer. That aside, rac 4 is much roomier and comfortable than my escape

Looking at all of these cars. We need a 4WD as well. I know Ford gets a bad rap, but we've had one for almost 20 years and still going strong. We are looking for a smaller sized hatchback to accommodate all of our camping and outdoor trips. Also looked at Mazda 5, but it doesn't get great safety reviews. Also, it is no longer made so would need to get last year's version.