If you value customer service, I would go with the Lexus. Lexus dealers have an excellent reputation for customer care and Lexus cars consistently top reliability surveys. You'll find the Lexus RX gets closer to the posh cabin feel of your Audi than either the Honda or Mitsubishi and Lexus cars come with lots of kit as standard, they have very comfortable seats and great stereos. Parts are not the cheapest, but that's true of any Japanese model.

If you value cheap running costs, have somewhere to charge the car and do lots of short commutes, the Mitsubishi could save you a lot of money on petrol, although that's the only reason I would choose it.

The Honda, meanwhile, is the most practical of the lot and should also be very reliable, but it's a bit stodgy to drive and you need a degree in computer science to operate the infotainment. As always with these things, it is best to try the cars for yourself before you make a decision.