We got a used Toyota Highlander (2007 low miles, great condition, excellent online price and drove out of state to pick it up-just sayin'-I know they're pricy). We finally had to make a safe, good vehicle a priority, and it was most highly rated with a few others by Consumer Reports on every safety count plus reliability, plus mileage.
It's like having a new life it gets such great mileage and is so comfortable (We had a Jeep Cherokee before that). My three kids car seats fit perfectly in back seat with no worries. The back end has LOTS of room for stroller, Tae Kwon Do duffles, groceries etc.
Again, we bought it for high safety ratings, but I'm pleasantly amazed by the luxurious fun it is to drive.
I too can't deal with mini-vans. They're SO hard to reach the kids! We've rented them before and yikes. I don't know what the appeal is. I can haul everything I need to in an SUV and reach back to hand all the kids snacks etc easily. We also need 4WD.
ALSO, even though it has tons of room inside, it's not very big. It's easy to park everywhere even in our extremely tight garage.