I changed the timing belt on our Acura MDX, and it was a non-issue. It took myself, a friend, about $350's worth of genuine Honda parts, and about 6 hours. Do that once every 100,000 miles. It was actually an enjoyable way to spend 6 hours; nothing about the job was particularly difficult (and this was the first timing belt job I've done).
Our CR-V is adequate for our family of four if we go on a road trip, but the MDX/Pilot is certainly more comfortable. The J35 engine has all the torque and power you would likely care to use, and it's a very refined platform. The CR-V is more fun to drive (it's actually quite nimble), but the MDX holds its own as well, and is light years more entertaining than the minivan it replaced.
If mostly lightly-loaded with less than 4/5 people, the CR-V will be a good choice. It drives well, it performs well, it tows light loads well if that is a concern...and it's pretty efficient at doing what it does. I average in the mid-20s with mine. All highway is upper 20s. For an AWD SUV with marginal aerodynamics...and an "old tech" port injected 2.4L from the early part of the last decade...its economy is quite good.