My brother drives an MDX. It's quite nice and I think more practical than the FX which we checked out as well. The FX is definitely sportier and would make sense if that is what you are looking for. But if you are more looking for luxury and a smooth ride, the MDX will likely be a better choice. Also, the SH-AWD system is possibly one of the best AWD systems on the market. Check out the reviews.

FWIW, the J37 engine is way more refined than the VQ35/37, which kinda matters for a vehicle in this class. Oh and the 2010's and later upgraded the tranny to a 6AT which helps a bit over the previous 5AT.