Some households carry the same few loads every week: bicycles, a roof box, skis, or large plastic bins. Those loads decide the fit more than a general size comparison does. The useful questions are about the openings, the floor, the roof, and the actual objects you plan to carry.
Measure the objects, then the openings
Measure the bicycle you will carry, including the wheelbase, the handlebar width, and the frame shape where a wheel must clear the sill. Measure the rear door opening at its height and width, and measure the sill height with the rear seats folded if they fold. Note the load floor height and whether the floor is level when the seats are down. A bicycle that fits through the opening may still hit a door frame at the top of the swing.
Roof racks and boxes
Check the roof rack points, which are the mounting locations the body provides, and read the roof load limit in the owner's manual. The limit usually covers the rack, the box, and the cargo together, and it is not the same as the weight of the box alone. Measure the total height with a box mounted, and check it against garage doors, drive-throughs, and parking structures you use. Wind noise and fuel use change with a loaded roof, so test the setup on a real route before you commit to it.
Use the record, then test the car
Look at the model-year record for the year you are considering, such as the Acura MDX: the model-year record, and confirm the rack points and load figures against the owner's manual for that exact year. Then bring the real bicycle, the real box, and the real bins to a dealer or a lot. Load them, close the doors, and check the clearance with the seat in each position you use.
Photograph the layout
Take photographs of the loaded setup from the back and the side, and keep them with your notes. When you compare vehicles, the photographs show whether the load still fits when the vehicle is different in a way the specification sheet did not mention.