Use a compact SUV instead of a full-size SUV when it comfortably carries the people and equipment you regularly need while making everyday parking, access, and ownership easier to manage. The larger vehicle earns its place when its additional usable capacity solves a recurring requirement. Extra room that is seldom needed should be weighed against the size you must accommodate on every trip.
Make the decision with actual vehicles and loads. A compact may suit a household of a few people with ordinary luggage, yet be unsuitable when all required seats and bulky equipment must travel together. Neither a large cargo figure nor the full-size label can settle that question without checking seating, access, payload, and any towing requirement.