RoadTrek Sprinter RS or CS Adventurous for family of 5

It sounds like you want a class "B", but you should consider an "annex" for longer trips, such as a popup trailer. I saw a used 2017 Coachmen Clipper for around $5500 near where I live, so they are not too bad, price-wise.

Another advantage of having a popup is that you have space for the entire family to gather inside and have dinner or whatnot once parked and unpacked, which is harder in a van. Plus, you have plenty of sleeping space, and if the weather turns bad, everyone has access to heating and cooling.