it helps if you give all your information in one go..you have just added a new requirement in that you only want an SUV and one that is similar to your Q5.
- Lexus have a small SUV, the RX350, smaller than a Prado and Q5 but enough for you and two kids.
- You can consider a newer Audi Q3/Q5 here too but then they are European so care is advised.
- Infiniti also do some nice and small SUVs. If you find a well maintained car, Infiniti reliability is decent too and the driving fun is definitely better than Lexus who concentrate on the comfort a bit more.
- You should really visit the Infiniti and Lexus dealership to see their certified used cars. I am sure you will find something suitable there. Plus the fact they are certified cars means they are in good condition
- Even if you buy from an individual, get it checked by the dealership service centre; they are the best people with the best equipment to check your car
Best of luck:-)