Hello.
What is an acceptable efficiency for You?
I have faced a similar problem some time ago. I needed a 12V to 5V converter with 3A output. In my previous project I used LM2576 converter for 1,5A load which did the job, but required the radiator (4x4x1.2cm) and when the load reached 2,5-3A, it was able to fry an egg. The second problem was the required inductor - 100uH/3A - hard to find in SMD.
I have found a nice alternative - ST1S10. It is a good and cheap (4,5PLN in Poland - about $1,5) step-down switching regulator with 3A output. IC is available in tiny DFN8 and SO8 package with heat pad on the bottom, so the radiator is not required - the PCB is a radiator, but 2-sided board is required (recommended layout is available in datasheet). The high current-rated inductor is no longer a problem, because due to high switching frequency, 2-5uH is enough. Output voltage is set by two resistors, but maybe it could be set dynamically, i.e by a microcontroller and a DAC. Heat problem is also gone - efficiency reaches 90%. The circuit has also a thermal protection (I have tested it with thermal pad not soldered - it automatically switches off) and survives 20V input voltage (I have accidentally plugged the device to the second bench power supply (wrong hole! ;-) ) set to 20V).
Over the past 12 months, I have assembled about 100 devices with this converter, which are running mostly 24/7. There was no problems with it so far.
I think the switching converter is a very good option.