I am in the same boat - want a family vehicle that drives well in the city but also has decent offroad capability (for basic FSR type stuff). The Forester is the vehicle I am most seriously considering but I do wish it were a little bit bigger (basically the size of the outback). I would just get an Outback but I prefer the styling of the Forester. Subaru recently announced that 3 row bigger SUV they are developing but not sure I want to wait 3 years for it to be released.
New Forester has a lot of interior space for the length of the vehicle, and lots of headroom for tall adults (especially if you skip the sunroof). Awesome turning radius and handles really well. I get 10.5L/100km in the city using 86 fuel. Any bigger, and the thing become a handful to park in standard garage, parkade or on city streets, IMO. I mean, go for the extra space, but the trade off is there as it pushes the outer dimension to a category that needs suburbia's bigger parking spaces. For 2017, its a much quieter vehicle and looks way better than pre 2014 model. Compared to my 2008, it is night and day for cabin noise. Compared to the CX5…you can just tell when you close the door or get up to hwy speed that its a more solid vehicle.