I'm not sure if this link will work. But most car sites that lets you compare cars will list dimensions for multiple cars. Here is the link that I tried to do on Edmunds for some of the cars mentioned on this thread (Highlander, Pilot, Rogue, Mazda 5):
http://www.edmunds.com/car-comparisons/?veh1=200706723|suv&veh2=401581359|suv&veh3=200738523|suv&veh4=200715549|minivan&show=0&comparatorId=5813554
And it's under Measurements. In case the link doesn't work go to
http://www.edmunds.com -> Car Research-> compare New cars
And from there you can choose the cars you want to compare.
The Highlander is interesting. I'm kind of interested in a three row SUV and the Highlander seems to get great reviews.
My impression of the opinion of the Mazda 5 on this board is opposite. Where I've seen several posts of people being fans of it. I know several people that considered it, myself included, but eventually decided to get something else.
We had a Rogue Select as a rental recently. The Rogue Select is the previous generation of the Rogue that they still make now along with the new generation. I went in with the low expectations and was somewhat pleasantly surprised. My main complaint is that it seemed a bit heavier/slower than it should've been but I'm not really familiar with that class of car and didn't really play around with it. Like turn on the sport mode to see if it made a difference.
btw, when I was shopping the Mazda 5, there were posts and articles talking about the Ford C Max along with the Mazda 5. So they might be comparable vehicles but the Ford C Max doesn't have sliding doors.