The intermediate SUV’s are usually based on their relative, compact sedans. So the CRV is derived from a Civic. In my 18 month experience with the CRV, it was an uncomfortable car for long trips. It is essentially a high sitting Civic that handles a bit worse and maybe is a bit slower. You would be much better off with an Accord in this case. I have test drove a RAV4 and an Escape (the previous generation), but not sure about long trips in them.
IMO, the Camry/Accord size sedans are the most comfy, if you can fit everything in them. The next level would be a Minivan. If you have to have an SUV, then I will want one size bigger than the RAV for long trips. FYI, we replaced the CRV with a Mazda CX-9 and are pretty happy with it.