We have one in our garage. I wasn't quite impressed with the driving dynamics when we first got it, but it has really grown on me over time. The steering and suspension are tighter than your standard people/grocery mover, but not harsh by any means. Body roll is manageable, and you always feel like you're in control. We have the turbocharged mild hybrid version, and you have lots of acceleration on demand (zoom zoom). The hybrid does have engine cut out but kudos to Mazda because you barely notice it and there is no lag when it cuts back in. Fit and finish in the interior are excellent and it does feel upscale. Plenty of power ports and the seats are very comfortable. Cargo area is very functional and while not class leading, there is plenty of room when you fold down the third row (only complaint there is you have to remove those head rests, or it won't fold flat.
As for the not so good... The driver assist system is full nanny mode. Look out the window for longer than an instant and get yelled at for being a distracted driver. Get closer to an inside or outside lane marker and it will tug you in the opposite direction (this can be "fun" when lanes split or merge). Many of the safety sensors experience drop out during hard rain as well. The software is a bit buggy too; the driver position preset forgets my settings half the time (almost always the steering wheel position). The car is supposed to recognize the driver via facial recognition and adjust the ergo accordingly, but this only works about half the time. The infotainment system is a mixture between good and terrible (can you say 4 screen selections to change the radio station). As for the exterior, I'm pretty sure the paint would scratch if a mosquito sneezed on it, and this is perhaps the biggest complaint I've seen about the car online. It may also have the tightest engine bay I've ever seen in a vehicle, and everything is hard to reach. I imagine most major jobs will require the pulling of the engine or transmission or both. That might not be a big deal if the vehicle turns out to be very reliable in the long-term, but the prospect of working on it if we keep it significantly outside of warranty makes me sweat a bit. The factory provided Toyo tires are hot garbage.
So, in summary, it's really fun to drive for an SUV with solid driving dynamics and definitely more attractive than a lot of its competitors. It's a quirky beast though, and you have to learn how to live with that.