U r exactly right

I don't feel safe in compact SUV. Always feel it might rollover due to its light weight and high ground. Also it feels same as compact car, not stable while driving fast.

But the problem with sedan is its ground clearance is too low. U might be stuck in snow. Also suv( even compact one) can carry something which won't fit in sedan.

Maybe midsize crossover is better.

I tried Toyota Venza. Feels much better than highlander. Stick to road well while curving.

Good luck!