We got a new Outlander in August, traded a 2010 Mazda CX9, which was a terrific vehicle, but way bigger than we really needed, and terrible on fuel.
The Outlander is obviously much smaller than the Mazda, but it fits our family easily. We have 4 kids, aged 9 and under, and the third row seating is fine for them, but an adult wouldn't fit. There isn't a huge amount of luggage space with the third row deployed. The middle row is fine for adults, I'm 6ft and can sit comfortably in there even with the front seats slid all the way back. Headroom is a little tight though due to the sunroof.
General ride and handling is fine, though not as composed over bumps as the Mazda. It's definitely not as stable at highway speeds either, but that's largely due to it being a much lighter vehicle. I don't know how it compares to a Santa Fe as I've not driven one.
I can't really speak about the drivetrain, as mine is a diesel, which I assume isn't available in the US. As an aside, the diesel uses a conventional 6sp automatic rather than a CVT. Out of interest, so far economy is sitting around 8l/100km in day to day driving, as against the 15l/100km the Mazda achieved... Don't know what that converts to as US MPG.
Build quality is good. Paint and panel fit is flawless. The leather used on the seats isn't as nice as the Mazda, but feels like it'll be very durable. Service intervals are every 12 months or 15,000km.
Ours is the top spec AWD version, has LED headlights, Forward Collision Mitigation, radar cruise control, heated seats, electric tailgate, etc., and so far nothing has gone wrong. I'd score it a solid 7.5/10 as a family car.