As a dad of four daughters (and I survived the 6319 consecutive days of teenage daughters), I would suggest a full size van. Yes, a crew-cab would work (had one). You can get an off-rental (2019 or soon 2020), one-ton Express for around $23k. Make sure you find a 6.0 V8. Additionally, some have the sliding door. This vehicle (although not really cool, or quiet) will make traveling more about fun than "they are touching me". Of course, you may have three perfect siblings that never do such a thing. And if the drive is more fun for Dad, it is more fun for everyone. They also make it so you can take friends or other family members.
I suggest the large white van!