Inherited my Dad's old Mitsi L300 which was great until it started to die (chewed through more gas than a V8 though). No back seats though and no crash rating so not good for family trips.
Best balance of all requirements if you want family comfort, fuel efficiency, a car like drive, heaps of space inside for all the gear on your own, or boards on the roof and sails down the middle to keep the kids from squabbling is a small people mover - and you have extra seats for the cousies or kid's friends.
Have a 2000 Honda Stream which is great to drive. Nearly bought a Subaru Liberty Exiga - same as the liberty with a taller body. Has a good tow rating too for this type of vehicle (1400kg). Deal fell through as dealer wouldn't drop $1000 off the list price.
Never mind - spent that money on upgrading the boat instead and just borrow brother in laws car for big trips

P.S. does no one else value the 40/20/40 seat split as much as I do? Only vehicles with it that I can afford are people movers and older full size 4x4's. The latest mid size SUVs seem to have it but I am not keen - less space inside, would rather have more car like handling.