> There is NOTHING preventing small SUVs that hold 5 people and cargo, get really good mileage, and are cheap(ish) - but they don't exist used because they don't exist new.
How much cargo you want? I think the mid-size sector favorites (CR-V, RAV4, etc.) come pretty close to this, especially if you are willing to use a cargo box.
Both are IIUC substantially smaller than the typical minivan, and the recent CR-V redesign especially looks bigger than it is. Honda also has the HR-V, which is a smaller crossover thing with much stronger classic hatchback vibes; not sure if Toyota sells anything similar.
How much cargo you want? I think the mid-size sector favorites (CR-V, RAV4, etc.) come pretty close to this, especially if you are willing to use a cargo box.