It largely depends on what you need/want out of your vehicle. On paper - and if you look strictly at quality of the vehicle - the 2020 MDX is a safer bet since it's the last model year of the 3rd gen design. I've had two recent MDX's - a '17 Tech and my current '19 Advance - and the '19 has the bugs worked out and has been a great vehicle for us. I moved from a '15 RDX to my MDX, and found the size and just feel for driving was better FOR ME with the MDX. You may be in a different place - in that if you like a smaller, sportier feel, the RDX will be a better fit. But as others have said, the '19 RDX was the first year of production and there were more issues than in later years of that 3rd gen design. In terms of Advance (RDX) vs Tech (MDX) - there are some features in the Advance I wouldn't give up now I have them - like the 360 degree camera, rear-seat heaters, etc. The adaptive suspension in my '19 MDX isn't a great feature, in my view, since I thought the '17 Tech MDX handled better - but that's just my opinion. Anyway, that's my input. Good luck with your decision!