I don't think anyone has suggested this but does fit your parameters and most likely budget as well.
Would you consider a Mitsubishi RVR? You can get the upgraded 2.4l engine, similar size to the Subaru Crosstrek, AWD with higher seating position, 10 year powertrain warranty. For another $3,000 you can extended the comprehensive warranty out to 10 years as well.
Is it the best CUV on the market? No, but it might be a good fit for your needs.