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Honda tried marketing the AWD Accord-based Crosstour, but it was not a sales success...Toyota also did not have much success with the 1Gen AWD Camry-based Venza. The Subaru Outback really has this corner of the market locked down.
I would take a '22 Accord with the 2.0T over the Legacy for sure. But the '23 offers either the 182hp 1.5T, or a 202hp hybrid, AND doesn't look as good as the outgoing model, so no thanks.
Subaru brought the turbo 4 back to the top two trims (Sport and Touring) of the Legacy, so that would probably be my choice in the segment currently, even though it has a CVT. For a few years, it had neither the old H6 nor a turbo 4 (just the NA 2.5L), so I definitely would have gone Accord during that window--especially the years that you could get an Accord Sport 2.0T with a 6-speed manual!
I'd take the VW Arteon over either of these, but it's $6-13k more than the Accord or Legacy. But with a proven 300hp 2.0T, AWD in most trims, a great DSG, and upscale interior, I personally think it's worth it.
AWD doesn't make a car "best". Subaru Ascent has been hammered with reliability issues. Subaru engines are noisy and underpowered. Legacy would really have to blow me away to choose it over an Accord.