Although I love my RX to bits and think it's the best car I've ever had, I do find that it's the opposite of Dr. Who's TARDIS.
Look at it stood on the driveway and it looks to be a big car but on the inside it's really not, especially the 'boot' area. Floor to roof lining, yes, it's got great luggage space, but in reality most people will want the luggage cover on for safety and security, so measuring floor to luggage cover it's really not big at all.
The rear seating area is no bigger than a standard saloon car and it's still just as difficult to get three adults on the back seats. It can be done of course, but no more comfortably than a standard saloon.