To make vector calculations simpler, you can assign vertex A as the origin $(0,0,0)$. This makes the coordinates of point B $(3,0,4)$ and point C $(5,-2,4)$. Finding the midpoint of BC directly yields position D $(4,-1,4)$, and the distance formula gives $\sqrt{4^2+(-1)^2+4^2} = \sqrt{33}$!