I hear your pain, we had our second child last year and our Honda Accord's trunk was not enough for baby stuff and groceries.
I went for 2011 SR5 Canadian Upgrade and could not be more happier. I have the space I needed, 4x4 for Canadian winter, 7 seats, all safety features (2 front knee air bags), bluetooth, etc...
My wife stands at 5 feet and so is my 11 year old son, they don't have an issue getting in and out of the truck. It's a relief also not to bend over whenever I put our baby in and out of the truck

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We recently drove to Florida and the truck was very comfortable. The extra seat was handy as I have two extra passengers. Both my son and 19 year old nephew sat at the back with no issue except the seat does not have enough cushion and A/C bent. It gets hot at the back especially during afternoon drive.
Most of the time, it's just four of us and the space is more than adequate.
Good luck...