SUV vs Minivan Family of 4

I have been reading lots of posts on this page and found it very helpful. I'll give a summary of what we've done so far..

We are a 1 car family (34/F 5'11 and 35/M 6'3 + a 3.5 year old + 1 year old + maybe another??) living in the southeast. Currently have a 2013 Nissan Rogue. Finding it cramped for travel (6 hour trips up north to visit family 2x/year; 3 hour trips to the beach 2x/year; 1-2 hour trip camping 3-4x/year; hoping for more camping as our kids get older). Cargo space tough to fit our gear for camping + travel (pack and play, stroller, pillows) and of course car seats take up a ton of space in the 2nd row.

We've looked at the following over the last 2 months, spending lots of hours crunching numbers and spending time with salesman. Feeling hung up between a 3 row SUV vs a mid sized SUV + car top carrier vs a minivan. 3 row SUVs are tough for me because the gas mileage would be a big change from what we currently get. They appeal to us due to a 3rd row in case we have more kids + bigger cargo space. But I've seen people do 3 car seats across in a mid sized + car top carrier. Then there is the mini van!

  • Toyota Highlander (hard to find in our area and out of our budget, probably out of the running)
  • Toyota RAV4- we are considering this + car top carrier. haven't gotten in yet
  • Kia Telluride (like it but a little weary of the luxurious interior / infotainment center)
  • Kia Sorrento - haven't gotten in yet but considering due to 3rd row
  • Honda Pilot - I can't get past the raised screen infotainment center, it is strange to me how their other vehicles have it built into the dash but they don't
  • Subaru Ascent- did not go for various reasons (3rd row small, poor gas mileage)
  • Subaru Outback- + cartop carrier. Felt like I was driving a go kart, a little low to the ground, but they are so popular and safe.
  • Subaru Forrester - loved this + car top carrier.
  • Hyundai Palisade- was a luxurious ride and had a flashy interior but I'm not sold and its out of the running

I've seen lots of minivans and all the pros of them. I am not opposed to a minivan, I feel after reading various posts the Honda Odyssey would be the best for our budget. I see that people do a lot of van car camping but my main concern with a minivan is how does it hold up camping? Gravel roads, dirt, mud, snow? We don't do a ton but we live 2-3 hours from the mountains and want to be able to make it up the gravely/muddy roads when we visit!

Thank you!