Grit, no half SUV made after 2013 has payload to support a family or 6+ and 1000 pounds of TW, regardless of "tow ratings" and engines/transmissions that are far more capable than my 3/4 ton. Van's are unpopular/unfashionable, but that does not make them less capable.
I understand the OP's request for 3 rows of seats and not needing the truck bed. Why pay for the truck bed if not going to use it? Except, that 3rw row of climate controlled comfort and storage costs even more and has less RV towing capability.