NYC (Queens), Newborn, Narrow Driveway

My wife and I live in Queens (NYC), have a private parking space (the entrance to it is on the narrower side, though), and drive a few times a week in/around the city (the roads can be pretty rough IYKYK). We need/use the car for a variety of reasons. We currently have a jankkkkkky 2013 Hyundai Sonata (it was a free gift, and while it has functioned for our purposes, it's bulky/wide/long, we have had to put a lot of work into it, and it continues to have many annoying issues). We have a newborn (2 months old) and are looking for a new compact SUV that is safe, relatively small (to fit in our narrow-ish driveway), and has some basic safety features (backup cam would be nice). We've had cars in the city for a long time (always old cars). We sometimes street park and are not afraid of scratches/cosmetic wear, haha. New or used will do. Don't have a set budget, but looking for options $25,000 and lower. Some family members have HR-Vs, and I like the size, but I've seen that they're kind of unpopular. CR-Vs seem popular. I've always been told to go the Honda or Toyota route, but we're open to all suggestions here. Thank you!!!