I have both a Impreza 2017
I have both a Impreza 2017 top model (direct injection - 150 bhp)(same car as a current Crosstrek other then the ground clearance) and a 2021 Rav4 Adventure or Trail (AWD) (depending on market) (since last Monday).
The Rav 4 is: faster, way bigger car, more reliable track record, same fuel economy, warms up quickly, no carbon build up issues because of dual injection (port and direct), better build, and almost as capable AWD ( not sure yet only 60 Km on the car)
If you want to be cheap go for LE AWD is you want tow Trail or TRD Rav are more capable (both AWD).
Current Crosstrek 150bhp ,or the Outdoor-Limited comes with a 2.5L 182 bhp, and Forester has less power and torque then the Rav4 (204 Bhp) can tow less, carbon build up issues, weak transmission a CVT, poorly build paint issues, rattles since day one of ownership.
I find the CVT automatic transmission super annoying and slow to launch quickly, jerky at times too, not fuel efficient when bellow -10 Celsius on the Subaru's. the opposite is true on the Rav4 quick to shit a classic 8 speed automatic.
I had 6 recalls on my Impreza 2017, 4 warranty repairs, and some that have not been fixed, passenger door and hatch that are hard to close (slam shut works :( ), also I got a letter for Extended the Warranty on my transmission to 100.000 miles or 10 years ... maybe a future recall too yeah :( .
Previous Subaru I had had only one recall (takada airbag) and no repairs, still fuel efficient in middle of winter, for over 185.000 Km 2008 model ( no CVT just a classic 4 speed automatic).
Good luck with your endeavors, and don't buy the first year or a new platform unless you want to be their test dummy ( aka me ).