You may not like this, but get a mini-van.
I honestly love the ease of access in mine (a 2000 Ford Windstar with 100,000 miles one it). Yes, it's a mini-van with all the stereotypes that go along with it, but you can do some things...darken the windows
, I got mine fully loaded at the time, automatic doors, 2-3 row seats, leather, etc. Well worth it.
Also, my suggestion is to get a 2-3 yr old used one from either Honda (Odyssey) or Toyota (Sienna). That's what I'm looking at to replace mine when it gets too tired!
My husband has an Explorer with a 3rd row seat, and it's just not as user friendly with kids as a van.