The world of car-based luxury SUVs has grown by leaps and bounds since the Lexus RX ushered in this category back in the late 1990s. And after decades of selling just sedans, coupes, and convertibles, Jaguar joins this white-hot segment with its first ever SUV in the F-Pace.

The all-wheel-drive F-Pace is based on a platform shared with the new XE and redesigned XF sedans. And the XF's excellent underpinnings are quite apparent, as the F-Pace has the same nimble handling as its siblings. The F-Pace's athleticism is in the spirit of the Audi Q5 and BMW X3, its most direct competitors.

Prices start at $42,320, but can reach about $70,000 with options. We bought a typically-equipped version for $53,895, right in the heart of the luxury SUV market. Blind-spot monitoring and rear cross-traffic alert require springing for the $2,100 Vision package. A luxury vehicle should have these as standard.

The supercharged 340-hp, 3.0-liter V6 provides ample power and has a rather dramatic exhaust tone that conveys its sporty pretense. It's matched with an eight-speed automatic that feels very smooth and responsive. (The S model comes with a 380-hp version of this engine. A 2.0-liter turbocharged diesel is also available.)

Unlike the XF, the ride in this new Jaguar is firm—potentially more so than some luxury SUV buyers may prefer.

2017 Jaguar F-Pace SUV front

Inside, you get a good driving position complemented by a nicely placed dead pedal and lots of telescopic range for the steering wheel. The seats feel very supportive. Visibility is pretty good all around except for straight back; the rear window is small.

The controls are a mixed bag. The window switches are too high and far forward, similar to a Land Rover. It's a challenge to see and manipulate the buttons for the climate settings. As far as interior quality, we couldn't help but notice that there was an awfully large quantity of hard plastic for such an expensive car.

2017 Jaguar F-Pace SUV interior

With a frisky feeling that hints at a good sports sedan, the F-Pace brings to mind the entertaining Porsche Macan, but the Jag is not as impeccably finished.

Whether or not Jaguar can overcome a long history of shaky reliability (and the various squeaks and rattles in our test car make us wonder) remains to be seen.

Check back with us when we finish putting the F-Pace through its paces and see how it ranks among its peers. 

2017 Jaguar F-Pace SUV rear