We just ended up in that situation (#3 almost here!!) and bought a 2005 Nissan Quest. My husband did not want to end up with a minivan, but he test drove some of the larger SUVs and some of the 7-seat wagons and did not like them (he is tall, too), and he hated the Dodge Caravans and the Town and Country vans (he drives them for his job). I like the Honda but we couldn't afford one and the used van kind of landed in our laps, but he actually loves it (for a mini-van). Why:
It comfortably seats 7 (2 front seats, 2 middle bucket seats, and a 3-seater rear bench).
It came with a built-in DVD player (major perk since we travel to see family).
It is roomy enough that I can easily move from the front seat to the back without leaving the vehicle.
For a van, the gas mileage is decent.
It is a very smooth ride and easy and comfortable to drive. There is good visibility for the driver as well (again, for a van).
There is a lot of storage in the back/trunk/cargo area and the back seats fold down easily. My husband was able to move a huge sleeper sofa by just folding down the back seat.
What I don't like:
It is a van (I hate driving that much vehicle!).
The gadgets and shifter are in the middle of the dash area rather than in front of the driver.
The cup holder for the driver is attached to the seat, so if you shift the seat with a cup of coffee in the holder, you get a bit of a mess.
There is no "pocket" cup holder on the passenger side (I always have a water bottle with me) so I've got to set my water on the floor or between my knees if the two cup holders by the driver are full. That might be different with different years.
Overall though I really like it and am very happy with it. We expect to get a lot of years out of it. I would have been quite happy as well with an Odyssey, but they are so hard to find used and affordable. (Of course, I kept my Ford Focus and am very happy driving that back and forth to work!) Good luck!! :)