Have used a Rexton 2008 model for 8 years and 250K+ KMS. Didn't had any issues apart from regular maintenance.
But this is somewhat old now, good news is these are mostly brought for permits and still the 1st owners are selling them off for upgrade, but if you could bag a low mileage unit, it will be a solid choice. And you will be able to get one around 4 Mil mark where you could save some buck.
Currently using a KIA Sorento Diesel 2014 model and 65+ KMS, again no issues. the Sorento 2010 -2012 models are not very much different underneath apart from the cosmetic differences.
Ride quality wise, Sorento is somewhat comfortable than the Rexton, but nothing to brag about.
Hyundai Santafe is not much different from the Sorento but less popular in SL due to higher purchase cost brand new, majority went with the Sorento.