We bought our Territory TX RWD 7 Seater 6 months ago as our Subaru Outback was too small (just had our third kid).
Chose the Territory as I couldn't do a people mover. Didn't bother with the 4WD version as I don't go off road. I've also heard the RWD is a slightly better drive.
We looked at a Santa Fe and liked them, however they're not as wide internally as the Territory and it's still hard to get 3 x kids seats along the back row, the Territory is mint though, tons of room for the kiddie seats!
We love the space in the thing, with the 7 seat option (which we use a lot when cousins / mothers in law etc join us for a trip) it's a brilliant way to move people around in style and comfort.
The car is hard to fault, good looks, nice smooth engine, brilliantly smooth transmission (ours is the 4 speed), good handling for a 2 ton SUV, nice interior, all good.
People complain about the fuel economy, however what do you expect from a 2 ton SUV with a 4.0 ltr engine? We average 13.5l/100km around town, and we got 11.7l/100km on a trip from Auckland to Taranaki and back recently. Not bad at all, and well worth paying the extra few dollars in gas for the extra space!
Overall, love the car, hopefully it proves to be reliable as I don't want to change it.