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A 7th Gen Maxima (2009+) would fit the bill nicely, too. Roomy for the family, easy to drive, but still very sporty and reliable. I'd take a 2-year old Maxima over the brand new 4-cyl Altima any day.
Can't speak for the Venza but we have a Subaru Forester XT - large enough to fit most things you'll ever need to and has a turbo that pulls. Gas mileage isn't that great (averaging 17-18MPG/tank) but is in your price range and has a Subbie AWD. If you're leaning more towards a car/hatch, as others said, the Prius and Passat are great buys but underpowered considering you used to have an RSX. Test-drove a 2012 3.5L Altima and while it was responsive with power, it's pushing that $30k limit and the 2013 redesign is only a couple months away to market.