I'd say both if those would be a W category, maybe higher for the Sorrento. You're always free to go and ask to swap as the worse that will happen is a "no". If you stick with W, I'd say the Edge might be the best equipped as the ones I've seen are.
The Prius will have standard lane departure/brake warnings, but are otherwise relatively basic (based on ones I've seen). However, this being a hybrid, it's a specialty category so not sure you'd get that in a W ressie.
Good luck!