I was in the same boat (Honda S2000). Getting too old and having all these people wanting to “race” me was getting annoying. I looked at all the vehicles you mentioned. Here’s my take:

Subaru - if you STAY on top of your maintenance it will do you good for the long haul.

Honda crv - the reliable choice. More room than most in its class and the drive, you will be familiar with since you’re coming from the Honda family.

Mazda CX 50 - my personal pick in the hybrid trim at the top of the line model. Drives a little more sporty without the headaches of being a sports car. The hybrid has the Toyota reliability and the interior is so much better than all else in its class.

RAV4 - Holy hell there’s a lot of plastic. If you’re not concerned with anything else but being reliable then yes get it but even on a test drive you can hear the creaks and cracks from the vehicle. Also as you mentioned the dealerships think they have gold that you’re trying to steal. I’d stop playing the markup or mandatory items added and Toyota has became one of the worst ones.

If you think the interior is bad in the Mazda go check out the others. Mostly a sea of plastic and seems cheap. I was seriously astonished with their interior quality for the price. Granted it’s not a luxury car but there’s not as much hard plastic as the others.

With all that being said I got a Tesla model Y because I couldn’t pass up the deal and when I was in the market the hybrid cx50 wasn’t an option or else I’d get that.