Here's an update from the OP. I ended up getting a Hyundai Santa Fe Limited with the 2.5T engine and AWD. I felt that the Santa Fe was more sorted than the GV70 would be.
I'm really liking the Santa Fe. It's a Goldilocks size (not too big, not too small), it's comfortable, and very quiet. Maybe not as much as the Genesis but probably the quietest car I've ever had. I'm also loving the 2.5T. That 311 lb./ft. of torque gets the job done effortlessly. I know that there are quicker cars, but this 2.5T moves it along very well. No problem getting quickly up to speed on the interstate or passing. The only downside for me is that the suspension is too soft. I wish it was firmer and that the car sat lower, as it sits rather high right now. Shark Racing sells some HSD coilovers for the Santa Fe but I'm not sure I want to get involved with that unless I knew someone who had already gone that way and liked it. I'm a little skittish about modding cars. I fear any deviation from stock could present a problem. Anyone here familiar with HSD?
So that's my story so far.