I came from a BMW 328i and really enjoy driving the CX-5. It doesn't have the smooth, "quiet" power delivery of a BMW I-6 (what does?), but it's plenty powerful for around town driving.
My wife has been driving her father's leased 2013 RX350 to use up the miles he has left before he turns it in. I've had a lot of opportunities to drive it. I like it, but it's certainly not as sporty as the CX-5. It's a little larger and feels a lot heavier and ponderous in it's handling, which isn't bad, but is not sports car-like. It's plusher, but I don't care for the looks of the interior. The dashboard controls, particularly the climate controls, are confusing. I'd probably get used to them, but I don't like the fact that you can't see what the temperature is set to without pushing a button. The display autohides after a few seconds. The ride is firm and it's considerably quieter than the CX-5. Of course, the fuel economy is not quite as good, but it's not terrible. The cars sit next to each other in our driveway and to my taste, the CX-5 is a better looking car. The newer RX's are even more polarizing.
We are considering buying the Lexus off lease, and can probably get it for about $2,000 less than I just paid for the 2016 CX-5. I'm struggling with the decision. My wife likes the Lexus (She's not a big car person. She has driven two different Honda Odysseys since 2002 and loves them.), so we may end up with it and give her parents the van, which is more suitable for them in their advancing age.
Good luck with the decision. You probably can't make a bad decision, although I elected to buy the CX-5 over an Audi Q5, BMW X-1 and Lexus RX350 (all of which would have been considerably more expensive optioned out similarly).