Jeep Wrangler, Ford Bronco, or Toyota 4Runner are the first things that come to mind when I think of sturdy SUVs that aren't massive and would handle the streets as well as terrain like the beach. I know some would argue that the Bronco should fall under large, but the cargo capacity of the Bronco and Jeep are on par with a smaller SUV and they are really more chunky on the exterior than massive. That being said, I know a lot of people (myself included) who have had really bad experiences with Jeeps. If you're OK with a wagon, I know a lot of people who are really happy with their Subaru Outbacks. I hesitate going too deeply into the midsize SUVs because they are all so different, some are much bigger than others, and of the ones I've owned aren't great for city parking. I currently have a Hyundai Palisade, I previously had a VW Atlas, and before that I had a Nissan Pathfinder...all are classified midsized and they're a tight squeeze in urban parking situations. VW bought back the Atlas because it was such a lemon, but I know that vehicle had recalls that other owners went many months waiting on replacement parts. I've had a few waits for parts for my Palisade as well and have seen similar stories from people with the vehicle that have been in minor accidents. I think it's just the norm in the industry these days.
my RDX. DH has a full size truck and he loves the RDX too. So easy to maneuver in the city.
