• The Rivian R1S is almost here. I got up close and personal with the startup's stylish electric SUV.

• The R1S is a beast both on-road and off, packing more than 800 horsepower and all-wheel drive.

• Its frunk, expansive cargo area, and seven seats make it a supremely functional daily driver.

Shopping for an SUV that can carry seven people, blast to highway speeds in a flash, tackle boulders like they're speedbumps, and do it all without using a drop of gas?

There's precisely one model that fits the bill: the 2022 Rivian R1S.

After months of delays, Rivian is finally gearing up to start delivering the SUV to customers later this summer.

The California startup invited me to get up close and personal with the R1S — and drive it both on-road and off. I can confirm it's fabulous.

I found it extremely capable, comfortable, and spacious. Plus, the R1S packs plenty of impressive features.

Here's a full tour of what the R1S has to offer, from its wildly useful frunk to its third-row seats.

First, some background: The R1S follows up the R1T pickup truck as Rivian's second consumer vehicle. It's also making a delivery van for Amazon.

Read more: Rivian squandered a 12-year lead in the race to make the first great electric pickup. Here's what that means for the startup's future.

Rivian's luxurious trucks target Patagonia-wearing, outdoorsy folks who have a bit of extra money to spend. The first SUVs available now start at $90,000.

Source: Rivian

The R1S Launch Edition (the first model out and the one I tested) has all-wheel drive by way of four motors — one powering each wheel.

It promises a whopping 835 horsepower and 908 pound-feet of torque, making it much, much quicker and more agile than its size suggests.

Rivian says the R1S will launch to 60 mph from a standstill in three seconds flat, which feels downright bizarre in such a large SUV.

The EPA pegs range at 316 miles, which places the R1S among the longest-range electric vehicles you can buy.

Read more: The 15 longest-range electric cars you can buy in 2022 from Kia, Tesla, Ford and more