The current Sta. Fe looks dated already. For today's buyers, I'd suggest them to wait for the upcoming model if they won't be even considering the Kia Sorento 2.2 R-eVGT.
Going back, like I said my list in order of preference ...
1. Honda Accord 3.5L V6
2. Toyota Camry 3.5Q V6 ( came ahead of the sonata just because it's the totl variant ...

)
3. Hyundai Sonata 2.4L Premium-package
4. Toyota Previa 2.4 Q ( white pearl ) -- exceeds the budget by 400k, but a nice car to have.
5.
Hyundai Tucson 2.4L Premium -- 1.690M, iirc. Has a lot of perks and a pushy CRDi engine.
Too bad you guys didn't consider Nissans, as there are a lot of choices to choose from there such as the Teana and the X-Trail. But what can I say, first impressions do last.
And seriously, an overpriced RAV-4? Hehe. No, just no.