My guess is, you'd probably prefer the ES as a combination of fuel economy, MSRP, and comfort and features.
You'll be a bit more than $50k, but if you may be able to come in under $60k (or under $65k if you want fully loaded).
If I had a $50k budget, I'm buying the new Land Cruiser, but that should not shock anyone who knows me on the board.
The new Jeep Grand Cherokee is a great honorable mention if you can get past the Stellantis negative quality reputation. The loaded ones have a great cabin and nice luxuries for a good price. MPG won't be the best though, unless you get the PHEV.