Yeah, it really depends on the SUV. The big Lexus/Land Cruiser is tall like a truck. The mid-size RX is, like you said, effectively a tall wagon. Same for the Tahoe vs whatever GMC calls their mid-size these days.
And, yeah, the wife's little BMW is low and if I've had a few hard workouts (and the resultant sore back/legs/etc), it's an effort to get in/out. Getting "old" sucks (turn 42 this weekend).
It takes about 1/2 hour to swap them out. I mark the tires with chalk so I can get them back on in the correct place, while rotating them front to back as well. First time, I made my teenage kids do the job, so they could experience changing a wheel.
They've gotten pretty handy with tools. We're all into cycling, and messing around with old bikes.
People want a vehicle that's easier to enter/exit than a go-cart, a full height storage area and a second row of seats that folds down. It just so happens that we call those vehicles "crossovers", "SUVs" or "cars" depending on whether you're asking the sale department, the compliance department or the engineering department.
https://www.caranddriver.com/news/g25558401/best-selling-car...