We have a lot of family who live close so we are always pulling up the back seat of the Highlander to cram in other kids/adults. With 1 or 2 kids in car seats in car your seats get sucked up quickly.For 2 or fewer kids a minivan is overkill.
Our family beater is a 94 mercedes e320 wagon. It's plenty huge for the four of us 90% of the time. In a pinch, and with no cargo, we can fit 7 people (2 of which must be kids or drunk) using the 3rd row.