IMHO, the real "soul" of a European car (in most cases, we mean German), is exactly that. In a "car". SUVs sacrifice a lot of the driving dynamics due to its weight and height (unless you're talking about a Porsche Cayenne/Macan, but that's a different ballgame). The typical German SUV is not going to offer much more than the others in terms of the driving feel. The X3 that I had as a loaner drove like a beached whale compared to my sedan, and I'm not going to start on the other X1 loaner.
If you want a German for the perceived badge; the Tiguan, which is essentially a jacked up Golf, may not be your best bet. The word spartan comes to mind at that level for the Euro cars. Unfortunately you'll need to fork out a lot more if you want the real German "luxury"; especially if space is a concern.
Which brings us to the RDX. While it shares some of its platform with the CRV, much like the Lexus NX shares the RAV4's platform; I think Honda/Acura did a pretty good job in separating the two. There's a good reason the RDX is popping up everywhere -- great value for a semi luxury SUV, and while it's not the best in anything (in typical Honda fashion), it does everything real well. Pity it doesn't have the panorama roof.
Best thing to do is to go for an extended test drive of the vehicles. For all you know, at that price range, you might find your current Forester to drive better than some of them. I know I was pretty impressed with my friend's old Legacy wagon.