In your situation, YES I would buy a car. AND, I would actually probably get a NEW car. 10 years ago I wouldn't have said that, but today used cars hold so much of their value that spending a tiny bit more for a new car is a better idea (it's NEW, it likely has better features, and again, it's NEW), if you have the income (and you do) and if you aren't in a lot of debt (and you aren't).
If you are concerned about price, go for a less expensive SUV (some are pretty small and might be considered a cross over, so you need to see if they are big enough:
Kia Seltos - $23,100
Mazda CX-30 - $23,000
Mazda CX-3 - $22,335
Honda HR-V - $22,140
Hyundai Kona - $21,575
Hyundai Venue - $19,925 (this might be the one)
Kia Soul - $18,610
If you can still find NEW 2020s on the lot, that's even better.