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Car lovers have been treated to a wide variety of new prototypes and full-blown production models at this year’s Frankfurt Motor Show. But one of the most eye-catching marks Jaguar’s entry into the still-lucrative SUV market: we're talking of course about the new F-Pace.

It has taken four years to arrive, but auto pundits agree it has been worth the wait. Two years after the world scrutinised the C-X17 Concept model, buyers can now look forward to owning the evolved version by April 2016.

Arriving a little late to the SUV party, the F-Pace has numerous well-developed rivals. But it aims to offer more interior luxury than either a Volvo XC90 or BMW X5, as well as more boot space than a VW Passat Estate.

Prices will start £34,170, although even the briefest dalliance with the options list will see this figure rise dramatically.

And for those who have designs on the top-spec model – complete with the F-Type's 375bhp V6 – the cost will easily surpass £50k.

The pretty looks of Jaguar's latest offering are once again down to designer Ian Callum, who was keen to capture the visual essence of the F-Type in the F-Pace – and generally ensure it was unmistakably a Jaguar.

Callum told Auto Express: "The important thing for me was this was a Jaguar shaped like a crossover, it wasn’t a crossover that was pushed into the shape of a Jag.”

But despite sharing much of the F-Type's visual delight, the F-Pace is built on an entirely new platform. This has allowed Callum to place the wheels as desired, resulting in more legroom and shorter overhangs.

Auto Express were permitted a peek at the new Jag and assured its readers of the F-Pace's exquisite interior as well as its advanced infotainment system.

Head of connected tech and apps Peter Virk told Auto Express: “It is the most advanced Jaguar tech ever, but it is equally relevant to grandparents and children.”

The car also connects to the Apple Watch, enabling the owner to remotely heat the car up as soon as they wake – with a mere tap of their device.

A range of connectors are available, as is a parent-pleasing feature that automatically sends an SMS with the satnav's estimated time of arrival to anyone in the driver's contacts list.

Along with a limited First Edition model (which should perk up initial sales volumes), prospective buyers can choose from Prestige, R-Sport, Portfolio and S models. Engines include a 178bhp 2.0-litre Ingenium diesel, a 296bhp 3.0-litre V6 and the 375bhp F-Type unit mentioned above.

But as well as offering a range of fancy on-board tricks, most F-Pace models will keep petrol bills under control, too.

The entry-level rear-wheel model delivers 57.7mpg and can manage 0-62mph in 8.9 seconds.

The four-wheel drive automatic returns 53.3mpg and can reach 62mph from standstill in 8.7 seconds.

Those keen on the diesel model will be pleased with its 47.1mpg and a 0-62mph time of 6.2 seconds.

Understandably, the fastest V6 model drinks petrol at the much thirstier rate of 31.7mph – but can get you to 62mph from standstill in just 5.5 seconds.

Mindful of well-heeled Middle Eastern buyers, the F-Pace has been tested in the deserts of Dubai. However, Jaguar are keen not to position the F-Pace as an all-out off-roader; that would be to step on the toes of its sister brand, Range Rover. Instead, the F-Pace focusses on superior on-road dynamics.

Overall, it’s fair to say the F-Pace is Jaguar’s most advanced model yet.

The F-Pace – including the £65,275 First Edition model – can be ordered now.