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I have three kids and did the crew cab pickup thing. My Tundra was fantastic with three car seats, and cargo was never an issue with the bed. My wife had a Rav4 back then, which was not good for three car seats, to no one's surprise. One day she got rear ended in the Rav4. The insurance company gave us a new Sienna as a rental car while the Rav4 was being repaired, and it was so much better for us in every way.
I won't go on about what made it a better family vehicle than the truck, as you've already decided against a minivan, but it is better. The truck was great too, but in terms of everyone's comfort and sanity it falls short of the vehicle built to specifically do that job. We were anti-minivan until we had one for a week.
In your situation a truck would probably work just fine. A full-size SUV would work too. My household vehicle situation is a Sienna, my E90, and a beater F150 for doing truck stuff in. No regrets.
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