For what you've described, the Legacy will be the better vehicle for you. The 3.6 H-6 is about as bulletproof an engine as you can get. It's been out since 2008 (started life in the Tribeca - which is another model that you might want to shop given your needs above) and coupled to the revised 5EAT (which was reengineered specifically to take advantage of the 3.6's torque and power band), it's nicely matched.
Luxury brands versus near-luxo (3.6R), come at a price premium and they're usually 1-or 2-trick ponies. They do specific things well, where, on-balance, the Legacy does everything well, at less total cost.
Pro dilectione Dei et patriam