Every time I drive a Hyundai, I'm surprised. Pleasantly, surprised.

On Tuesday I got a first look at the new Veracruz midsize crossover, and all I can say is: If you got behind the wheel of this vehicle and didn't know it was a Hyundai, you wouldn't guess it was a Hyundai.

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2007 Hyundai Veracruz

By the numbers

Engine: 3.8-liter V-6
Horsepower: 260
Torque: 257 pound-feet
Drivetrain: Front-wheel drive, standard; all-wheel drive, optional
MPG city/highway (FWD): 18/25
MPG city/highway (AWD): 17/24
Transmission: Six-speed automatic
Wheelbase: 110.4 inches
Length: 190.6 inches
Width: 76.6 inches
Height: 71.1 inches
Cargo volume behind front seats: 86.8 cubic-feet
Cargo volume behind second row: 40 cubic-feet
Cargo volume behind third row: 6.5 cubic-feet
Base price GLS model: $26,305
Base price SE model: $28,005
Base price Limited model: $32,305

Mike Nino, manager of product planning at Hyundai Motor America, said the automaker is targeting Honda and Toyota as competitors, but, in my opinion, the Veracruz could easily take on the Lexus RX 350. Nino said Hyundai typically looks at the segment above to set a benchmark for ride and quality, so the RX 350 was actually the Veracruz's "functional target." Well, it hit the functional bullseye.

For a quick jaunt around the western suburbs, my driving partner and I got behind the wheel of a top-of-the-line Limited AWD model, which has a base price of $34,005. It also had the Ultimate Package with Premium Saddle Interior, which added an additional $3,200. With freight, the final MSRP of the model we tested was $37,895. A base GLS starts at $26,305, and a base SE model starts at $28,005.

On the road the midsize SUV is very well mannered. The cabin was as quiet as any luxury vehicle I've driven, the six-speed automatic transmission had smooth shifts, and pickup was fairly decent with the 260-horsepower, 3.8-liter V-6 engine.

The interior fit and finish of the Veracruz was excellent as well. The colors, the touch points and the wood-grain surfaces all gave the appearance of a much higher priced car. The seats were quite comfortable with good lumbar support and headrests that didn't invade my personal space. With the optional power tilt-and-telescoping steering wheel, I was able to find a perfect driving position, but my 6'4'' driving partner couldn't quite get the seat back as far as he would have liked. Plus, I noticed that there was a good 4 inches between where the seat bottom ended and the back of his knee.

My one interior quibble was with the placement of the parking brake. It drops out of the dash to the left of the driver's legs, which is relatively normal, but it sticks out so far that it hit my shin while I rested my left leg on the dead pedal. Ironically, I have this same problem in the Lexus RX.

An interesting interior feature that the jury is still out on is the cooled front center console storage compartment. It filters air into the compartment through a vent, but it's synced to the HVAC system. So if you have the AC on, cool air goes in; if the heater is on, hot air goes in. You can shut the vent if you don't want hot or cold, but I'd be curious to see how well it heats or cools in practice. My bottle of water was too big to fit in the space.

The latch to get the second-row seat to move forward was a bit sticky the first time I tried, but I got the impression that I was probably the first person to have pulled the latch in that particular vehicle. The second and third time I tried, it was smoother and easier. It did take a little bit of manpower to lock it back in place, but it wasn't unreasonable.

I couldn't figure out how to release the second-row seat while I was sitting in the third row, so I ended up doing a bit of an ally-oop over the second-row seat to get out of the car -- much to the amusement of my auto journalist colleagues.

Speaking of the third row, both me and my 6'4'' driving partner fit. But, while I was comfortable, my partner was a bit scrunched. I'd be fine for long drives; he said he'd only be comfortable for a short distance. In the second row, he sat behind the driver's seat in the far-back position and had plenty of room.

Standing at the back of the vehicle, I was too short to deal with the third-row seat. So, I climbed into the cargo hold to reach the release button. Again, to the amusement of my colleagues. From my sitting position in the back, the third row went up and down easily.

In terms of safety, the Veracruz has several high-end features that are standard across the model lineup. It has Electronic Stability Control, front seat active head restraints, anti-lock brakes with Electronic Brake-force Distribution, advanced front airbags, side airbags and roof-mounted side curtain airbags that reach all the way to the third-row seat. The Veracruz received five-star ratings for both front and side crash tests.

There are still several people out there who are skeptical about a Hyundai. And I get that. Believe me. I remember when my sister test drove one back in the early '90s … and it wasn't pretty. Get that image out of your head.

Today's Hyundai has premium interior surfaces, standard XM Radio with three months free service and "America's Best Warranty," which includes a 10-year/100,000-mile powertrain protection and a five-year/60,000-mile new vehicle limited warranty.

Plus the Veracruz has unexpected luxury options such as a backup warning system, rain-sensing wipers, a proximity key, adjustable pedals and a power liftgate – all of which were on the test vehicle.

Skeptics be warned: Your days are numbered. In the year 2007, Hyundai actually puts out a darn good car.