I have an '11 Highlander, its a 2wd, and I believe just a 4 cylinder, and get about 19-20mpg on average. I have a lead foot, though.

26,000 miles on it already & not a hiccup. I went from a '07 4Runner v8 to this, so I gave up a little cargo & interior space, but gained a smoother ride. They are built on a Camry frame. I have the third row seats, it's a split seat, so that's nice. You can use just one if needed. I don't particularly care for the interchangeable console/seat option for the second row. It seemed like a nice feature at the time, but it's a PITA to change out, IMO. I just have the one baby, so I leave the console in all the time.
Truth be told, I got just as good gas mileage in my v8 4runner as my 4 cylinder Highlander...not sure why. The salesman kept saying how my gas savings would be so awesome and I've not seen it yet. Also, I can't imagine trying to put two kids plus all their gear/groceries/whatever in a CRV. I know people do it all the time, but I'm just spoiled, I guess. I had an Explorer, then the 4Runner, and downsized to this. If I had had the extra $8000, I would have gone with a new 4Runner.