@olaitan I feel like I have pretty good insight here. My husband is a Toyota auto tech and due to him being able to fix up cars, we've driven a lot of different vehicles. Currently, we have a 2008 Honda Odyssey van and a 2004 Lexus sedan. The Odyssey is amazing for kids and my husband (a Toyota guy) prefers it over the comparable Toyota minivan.
When my twins were born, I was driving a Lexus SUV that I LOVED, but sliding doors or the minivan are a game changer. It makes it so much easier to not worry about dinging another car, and being able to push the remote to open the doors from across the parking lot. We only have two kids, but we sometimes drive their friends, and I'm sure that will only increase as they get older.
Since kids, we've also driven a Land Cruiser and a Sequoia - both are big and higher up, harder for me getting kids in as I'm only 5'3. And a Honda CR-V, which I also loved, but would be tight with 3 kids.
So tl;dr Honda Odyssey