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I disagree, the trunk seems very deep and wide, though not as big as an MDX trunk, its plenty big for a 2 row crossover.
Yes, it is deep and wide. But half of the trunk is not tall because of the back door. In traditional SUV, you can put tall stuff (shelf, large suitcase, TV) all the way to the back and still be able to close the back door. I doubt we can do the same with 4RX. There are reasons why RX's official trunk volume is only 18.4 cubic feet, while MDX is 38.4. I don't buy the theory that Lexus only measures the space below the trunk cover. I don't think Lexus is that stupid.
RX's rear door is so sloped that it cuts lots of cargo space. Here is one of the official pictures from Lexus. See how close the 2nd row headrests are to the rear glass.
To make it clear, I am good with the cargo space since I am not planning to load my RX with 10 bags of mulch.
Your best bet is to take a ride to Acura and Lexus dealerships and stop guessing. Keep in mind in RX, the rear seat can slide forward, providing you with more cargo space. I think for a family of 5, it will be very tight, especially if you need to put two strollers.
My dog weighs 45 lbs. I have a crate which measures 36L x 23W and 25H, an intermediate size for a medium dog. It fits in the trunk but just barely, 1" clearance on the sides and top. It goes in sideways and the rear seats must be down or there is not enough room for the trunk to close. It could fit lengthwise however it would sit on the back of the seats causing it to be at an angle, not dog friendly. Without the crate there is more room then I need.