We have a Palisade but cross-shopped it with the Telluride. They're basically the same vehicle, cosmetic differences only. The Telluride does have a slightly larger cargo area due to the shape of the rear end. My wife preferred the look of the Palisade and I preferred the Telluride, so we compromised and got the Palisade.
The Palisade's third row is surprisingly comfortable. I'm 5'11" and have no problem getting into the third row or riding back there for short trips around town. I have a 12 year old, a 9 year old, and a 4 year old and the older two argue over who gets the whole third row to themself and who has to sit in the second row captain's chair, so it's pretty solid as far as third rows go.