Is a Toyota Highlander a good, mid sized SUV--what are the best mid sized SUVs?

We are looking to get a used SUV from like 2006 or 2007. We cannot afford a fancy one like Lexus, Mercedes, etc. nor do I feel we can afford a new suv of any kind. Can you name a few really good reliable used ones---mid sized only? Automatic transmission only. What do you think about Toyota Highlander? What about a Ford Escape? Thanks much!