Not a popular option around here, but my (close) second choice when I purchased in 10/00 was an ML320.
Since then, it's been improved (side curtains, availability of bi-xenons, one-touch up/down all windows, etc.). Still has lots of great stuff the MDX doesn't and should have. That might make a decision today even tougher, based on my own priorities. But MB still struggles to get a fifth year vehicle to be simply average in reliability, and I find the ML320 to be somewhat underpowered. Then there's the styling, which was helped by the 2002 update, but it didn't go far enough. Hopefully the 2003 MDX will help address the differences.
Today, I'd also look strongly at the Highlander. You give up some space but the vehicle is quite high quality. Maybe the Pilot, but I'd pay the price difference and get an MDX instead, I just find it more appealing (personal priorities).
I agree with Roadrunner in that if I was willing to get a smaller SUV, the redesigned 2003 Forester would be a strong candidate. Indeed, it may well become our second car next year.