Look into the Ford Escape (the Hybrid gets great gas mileage, too). It's not too big, but it fits a lot of people and cargo. My friends have one and love it. They have two in car seats and a teen. I drove a rental Escape for a couple months and really enjoyed it. I will personally do everything I can to avoid a minivan haha, but I know they are excellent for families! Good luck, it's an important decision!

We have a Ford F150 and have had two car seats and a third person sitting in the back seat, with three folks up front. It's not like you can flail around and not hit someone, but it's plenty roomy. A truck doesn't sound like it's on your list at all, but I LOVE mine. Except at the gas pump!