Before replying you should know that I have no experience about Cars on Highway, in last 15 years I drove only SUVs on highways.... If I had driven City, Corolla or any other car, I would have given a good comparison 
What I felt about BR-V S Auto, ODO 20k..... read below in Bold
Its a good car for a family on 5, for city drives and few trips on hilly areas....
After my trip I got many calls about BR-V, I told them buy new and change every 3 years. The only problem I had was the AC, it worked fine while moving but in traffic jams it comes down to 40%.
I would suggest that drive it before buying it, rent it for a day or ask a friend to lend you or you can ask Honda for a test drive 