If you are choosing from those two

XC60 for sure, you don't need to spend a penny on maintenance and repair in the first 5 years after you purchase it, all covered by Volvo.

As for safety,  the most important aspect of a family car, Volvo is more trust worthy. RX350 is well-dressed Ma Jia of Highlander, which is Ma Jia of Camry,  as for safety, who trust a heavily car built on a platform designed for mid-size sedan?