The most “comfortable” SUV under 55k

I'm not into driving. I need something that is easy to drive and nice to be driven in. I would prefer buying a new car because i like the new car smell and i would keep it for a long time so the price difference doesn't matter as much.

What does "comfortable" mean to me? - Lower road noise and vibrations inside the cabin - More headroom and legroom - Cushy seats

For driving assistance I'd really like - Adaptive cruise control - 360 degree camera (for parking) - Wireless CarPlay

We don't get snow here, so AWD is not so necessary