The Lexus RX and Mercedes-Benz GLE (formerly the M-Class) are the original midsize luxury SUVs. Both arrived on the scene for the 1998 model year, and they remain popular choices in this class.

Lexus introduced the RX midsize crossover SUV back in 1998. BMW launched the X5 in 2000. This was long before most consumers had made the switch from cars to SUVs, but in retrospect, it was a ...