I guess I’m not sure what you’re looking for exactly, but per the requirements in the OP the Model Y seems to be a “qualified alternative.” A quick lookup of specs (all from manufacturers’ web sites except for Tesla from Car & Driver).
Car Clearance (in) Passenger Space (cu ft) Cargo Space (cu ft)
Hyundai Ioniq 5 6.1 106.5 27.2
Kia EV 5 6.1 103.0 24.4
Tesla Model Y 6.6 106 30.2
Toyota RAV 4 PHEV 8.1 98.9 37.5
Both Model Y alternatives in the US are AWD.