All depends on your budget and need for space. Here are my picks:
Luxury SUV: MB GL 450
--Basically an S-class with 3 rows. Has lower center of gravity and better car like handling versus other large SUVs. Every luxury feature you can imagine with a base price starting at ~$65k. You can choose between the base V8, upgraded V8, and even a diesel model with great gas mileage.
Mid-Budget SUV:
Mazda CX-9
--Seats 7, updated in 2013 with new bodywork, great driving dynamics with a starting price at $29K. Still has lots of luxury/technology with awd, xenon light, keyless entry, heated seats, cameras, nav, and upgraded sound system.
Ford Flex
---Starting $28k, seats 7 , has a lower roof height versus traditional SUVs, lots of interior leg room, and distinctive exterior styling (IMHO the new Range Rover seems to have copied Ford's exterior styling cues). It has a range of features including awd, MyFord Touch System (nav/technology package), optional eco boost engine with a turbo v6, 44 inches of leg room for 2nd row, and 20 cubic feet of storage behind the 3rd row.
Luxury Wagon:
Mercedes E-350 Wagon
--All the luxury, safety, and ease of driving of a Mercedes sedan but with the flexibility of 7 passenger seating. Starting at $58k will get you a V6 and standard all wheel drive. This maybe a little tight if you really need 7 adult sized seats. The 3rd row is a rear facing setup in the back meant mainly for kids. If you really want to spice it up, order the E63 AMG S-model--this will add a turbo V8 and cut your 0-60mph commuting time with the kids down to 3.6 seconds ;D