Most Comfortable SUVs for 2024

The ever-increasing popularity of SUVs is based on several factors, including their foul-weather confidence when equipped with all-wheel drive, their confidence-inspiring elevated ride height, and their ability to comfortably carry five or more people. While not as roomy inside as a boxy minivan, large SUVs like the Kia Telluride offer three rows of seating, comfortable ride quality, advanced safety features, and a high-tech infotainment system with a large 12.3-inch touchscreen. This combination of standard features, along with a powerful V6 engine that still delivers impressive MPG figures, is why models like the Telluride have largely replaced wagons and minivans as today’s preferred road trip vehicle.

But finding a capable and comfortable family SUV doesn’t require a full-size or even midsize model with a third-row seat. Buyers seeking a smaller SUV with better fuel economy will find many of the same driver assistance and connectivity features on compact and subcompact models. These smaller SUVs still offer standard or optional heated and ventilated front seats, second-row seats in both captain’s chairs and three-across layouts, a quiet cabin at highway speeds, and a smooth ride quality worthy of a luxury nameplate.

The Honda CR-V and Toyota RAV4 are two of the best-selling models in the U.S. because of their combination of comfortable seating, remarkably large cargo capacity (over 37 cubic feet behind the rear seat) and fuel-efficient turbo powertrains. The Hyundai Tucson, Mazda CX-50, Nissan Rogue, and Volkswagen Tiguan provide similar features, but buyers will have to step up to a luxury nameplate like Audi, Mercedes-Benz or Volvo to access additional comfort and premium features, such as a massaging driver’s seat and Alcantara seat upholstery.

iSeeCars has listed the most comfortable SUVs in every SUV category below, ranked by their total available headroom and legroom. Ranking them by maximum headroom and legroom allows for the widest range of driver sizes to fit comfortably in each SUV. We’ve also listed standard and optional comfort-related features, such as acoustic glass, massaging seats, and a telescoping steering wheel. New and used price ranges are included for each model, along with fuel efficiency numbers under the “MPG” heading.

Most Comfortable Subcompact SUVs Total Headroom & Legroom

• Nissan Kicks 84.1"

• Subaru Crosstrek 82.7"

• Ford EcoSport 82.5"

• Nissan Rogue Sport 82.4"

• Jeep Renegade 82.3"

Most Comfortable Luxury Subcompact SUVs Total Headroom & Legroom

• Cadillac XT4 83.5"

• Mercedes-Benz GLA 81.9"

• BMW X1 80.9"

• Buick Encore GX 80.6"

• Buick Encore 80.4"

Most Comfortable Small SUVs Total Headroom & Legroom

• Subaru Forester 84.5"

• Ford Bronco Sport 83.9"

• Subaru Outback 82.9"

• Nissan Rogue 82.6"

• Ford Escape 82.4"

Most Comfortable Luxury Small SUVs Total Headroom & Legroom

• Lincoln Corsair 82.7"

• Acura RDX 82"

• Mercedes-Benz GLB 81.8"

• Buick Envista 81.3"

• Cadillac XT5 81.2"

Most Comfortable Midsize SUVs Total Headroom & Legroom