Lexus RX 350h Exquisite

Yes, considering your driving is in the city, the Lexus RX 350h is a good option. Its strong hybrid powertrain is incredibly efficient, which will bring down your running costs considerably compared to the BMW. Also, service and maintenance costs will be lower, too. 

It's also very luxuriously appointed and well equipped, with a uniquely Japanese take on exterior and interior design. Do note, however, that it is slightly less spacious than the BMW X5. Especially if you intend to carry three passengers in the rear seat frequently. Though the chassis is able enough, the four-cylinder naturally aspirated petrol-hybrid powertrain is nowhere near as strong or exciting as the 6-cylinder petrol and diesel engines that power the BMW X5.

The Jaguar F-Pace, unfortunately, is discontinued globally, and if you're still able to get hold of one, it will likely be stock that the dealer is still trying to clear. If so, negotiate hard for a lower price. The F-Pace is an excellent driver's SUV with smooth, reasonably punchy engines and a superb chassis. 

However, though the 2021 facelift brought in some key modernities, it now feels dated by modern standards. It shares components with Land Rover products; future support could be uncertain as Jaguar is moving entirely to EVs from next year. 

As such, you should go for the Lexus RX. It's a bit more spacious and far more luxurious with a thoroughly modern interior. Plus, being a strong hybrid, the fuel efficiency is incredible, and Lexus is also synonymous with reliability and reasonable maintenance by luxury car standards. 

Plus, having only been introduced in 2023, the Lexus RX has plenty of life left in it yet.