Gjac, I have a Subaru Crosstrek that I use as a daily driver and that we tow behind our class c. For me a Subi was a no brainer as its my 3rd Subi, and my wife is on her 3rd Subi also.
The Subie's with a manual tranny can be towed 4 down without any trouble or preperation other than a base plate and light wireing. If you want to spend less, than look at a Subi Impreza wagon. Slightly better milage and costs less. All wheel drive is outstanding and relibality is outstanding---almost all Subies are rated as best buys by Consumer Reports every year.
I get 28-29 mpg around town and 34-36 on the open road. No it dosen't get 35-40 mpg, but so what. All it means is that I have to spend a buck or two mor to fill up than someone with a 40mpg econo box.
Your looking for something that can carry 5 people, which it can. It can carry two bikes if you fold the rear seat down. If you get a hitch for the Subi (which I have on mine), you can carry 5 people and carry your bikes on a bike rack.
Your opening question leaves a lot to the imiganation as to your wants and needs, but as a daily driver your first priority should be that you feel comfortable driving it and that your happy with it. Don't worry about a few mpg one way or the other, and you shouldn't base your choice on only one factor. Get something that you will be happy with for several years.
Grumpy