We do a lot of cross country trips visiting family and my wife and I will alternate driving. If passenger gets tired of looking at the road or wants to get some sleep they usually hop over the center console and go hang out in the power reclining 3rd row. 2 kids ride in the 2 center captain chairs and one in the 3rd. Larger dog (90 lb) usually wanders around between everything. We usually put a cargo box on top so we can keep the cabin cleaner but we'd still fit without it.

I also own a top trim mid-sized luxary SUV and I'd say the limited pacifica (plus all packages) is easily the go-to option for comfort on road trips. Its no contest how much better something like that is compared to what basically equates to a larger sedan with a big trunk. Maybe something like a suburban or a yukon xl could compete but thats about all I'd think might.

Great driver and front passenger comfort. I haven't heard the kids complain about the rest of the seating. I've sat in the middle row a couple times and being tall-ish it wasn't as good as the front but still pretty decent.

The ride itself is great, and its not noisy. There's an active noise cancellation system, not sure if it does anything as I don't think I can turn it off to compare.

Great for road trips! I've taken more than 6 trips longer than 15 hours and they rock.

If you want comfort, get an E-class wagon or similar. SUVs are not built for comfort.