THIS. We needed to upgrade my car so got an Odyssey shortly after DD was born and it's AWESOME. Sure, it's doesn't get great gas mileage but we can tote extra people or carry bigger things, etc. It's really not that bad!! I looked into the Mazda 5 but it was pretty pricey and didn't get as good ratings as Hondas.
We also have a Honda Odyssey and we LOVE it. I know, I know, it's a minivan, but really, with three kids you get a lot of stuff. Plus we can carpool with friends, which we couldn't do with our other cars. As an added bonus, we got one with a DVD player. Driving is much more pleasant now that they're watching the movie and not bored.