Which one…Lexus, Highlander, Venza or Crown?

We are looking for one of these…we think. We have had a Sienna, a Camry and a RAV4. All great. I currently drive the RAV and I like it. But its ride is comparatively rough, and I’d like something that is more comfortable and quiet. I injured my neck some months ago, and a bumpy ride is just miserable. As we all know, car prices are crazy and we are not opposed to buying used. I’m not too knowledgeable about Lexus, but am very interested, and they seem just perfect- the prices are a bit shocking and the gas mileage is not great, but understandable for larger cars, and larger engines, etc. We don’t have kids to drive around, and don’t go off road, but a car with some a space to put cargo in is always a plus. We’ee keeping the RAV and probably passing the Camry to an adult son. Any and all feedback is welcome!

Edit: We would definitely prefer a crossover or SUV to a sedan.