Envision not head of the class, but rated better than much of the class competition.
Surprised the Kia Sorento was singled out for critical comment. Traded a Sorento with HID low beams for the Envision and have not noticed much improvement especially on low beams. My night driving is predominantly on 2 lane rural highways so I pay particular attention to headlight performance. The issue for Kia owners is that the headlight aim on new vehicles can be substantially off the recommended settings. Had this with the Sorento headlights and LED foglights, and my wife's Sportage was even worse. Sportage was purchased new, and low beams were set above high beam settings. Easy enough fix, but should have been caught during vehicle production, or pre delivery inspection.
Learnt a lesson not to assume headlight aim is correctly set, even on a new vehicle. Headlights on my Envision came correctly aimed.
Link to IIHS headlight report Most midsize SUV headlights are marginal or poor
Link to Buick headlight aim adjustment https://www.manualslib.com/manual/22944/Buick-Automobile.html?page=326#manual