While the SUVs are good options, unless you value the tall seating position and road presence they bring by virtue of their height and boxy shape, there's no need to go there. Ultimately, a sedan will almost always deliver a better driving experience than an equivalent SUV owing to its lower centre of gravity and relatively lighter weight, and factor in the aerodynamic advantage, and it's likely to be more fuel efficient too.
While the difference isn't as great in the rear seat these days, in this particular class of cars, it's the sedans that win, with their long-wheelbase designs and luxurious rear seats.
We'd recommend the Mercedes-Benz E 450 4Matic, which is as much of a treat from the driver's seat as it is from the rear. Its 381hp 3.0-litre 6-cylinder petrol engine is powerful and silky smooth, channelling torque to all four wheels for strong power delivery, which is assisted by sharp and precise steering, making for a thrilling driving experience, even for such a long car. The rear seat experience is best in class, with huge amounts of legroom, reclining seats, ambient lighting and powered sunshades all around. 
