A teardrop, IMHO, would be the most comfy for two people & could be used to carry the tent for the others as well. Might have a cooking area in it as well. Not all do I have noticed.
Never done anything with a minivan, can't comment on doing that. We had a full sized conversion van back in the '90s & it had a back seat which would fold down into a nice sized bed. Which worked well.
I assume all of you will be traveling in the minivan, so taking out the back seats would not work. Not sure if one can fold down back seating to make a flat area, if so, a air mattress might work well as a temporary bed. Most air mattresses are queen sized which make them too wide for an easy fit. Even in a pickup.
We found a full sized air mattress which will fit nicely into the back of our pickup bed (it has an A.R.E. topper) & we did use it on a two night camping trip in 2012.
Good luck with your Quest.
If you could find a teardrop in your neck of the woods like these, one might work well for you guys:
ABQ craigslist Teardrop Gallop TeardropThese are extremely nice ones:
Tucson Little Guy TeardropMaybe work? Price is right:
http://baltimore.craigslist.org/rvs/4487299523.html http://norfolk.craigslist.org/rvs/4468407593.html &
http://charlottesville.craigslist.org/rvd/4506095144.htmlOur
Chaco Canyon Trip Part One in 2012. A hard one to get back into at times.
Part Two Why we wanted to do the trip only in the pickup.
