My wife and I each have one, I have a 2019 with a V6 and hers is a 2024 with V4, we both really like ours. Both rows truly folding flat helps when we have to haul a lot of stuff and even with a kid and a dog in the back, I never feel we have a lack of space. Gas mileage is probably 20-22 MPG. Living in the Great Lakes region, we both replaced the stock tires with Michelin Cross Climate 2's. I've had mine on long road trips out west and doing some light off pavement work and it's been more than capable.
I'm planning on upsizing to a Yukon/Tahoe for my next vehicle but we would definitely buy another Atlas or upgrade to a Q7 in the future.