Are you looking for a midsize 2 row or 3 row?
Are you looking to buy new or preowned?
Keep in mind that your question refers to midsized not compact.
Vehicles are getting larger(in their segment) these days and the compact SUV's are getting quite large, often confusing customers to the segment that they play in.
Mazda doesn't currently have a hybrid yet however their driving dynamics, quality, materials, coachwork are really good with good reliability as well. Can't go wrong with Mazda. I just think that Mazda suffers a bit in fuel economy but they're competitive in the gas only segment.
Toyota's are more about reliability and less so in those other areas. Toyota's are kind of boring and just there. They too have good quality(I find Honda & Mazda to be better) but I find Toyota's to be Ho-hum. But they get the job done!
The Mazda CX-5/50 are in the compact SUV segment whereas the the CX-70/90(2/3 row) are in the midsize segment.
Same with the, e.g., Honda CR-V and Toyota RAV4 which are considered compact.
Whereas the Honda Passport/Pilot(2/3 row) and Toyota Crown Insignia & Highlander(2 & 3 row) are midsize.
According to Consumer Reports, Toyota/Lexus are most likely to be your best bet for reliability(even though Toyota is experiencing issues) and their hybrid vehicles takes that reliability up a notch.