What about a Toyota SUV with something like this to increase the sleep/livability:
Sportz SUV / Minivan Tent (For Toyota Models) (that's off a quick Amazon search, I'm sure there are other options).
I've never used one of those, so can't speak to the particulars, just a thought.
We drive an extra cab (not crew cab, those have bigger cabs) Tundra (I know, the horror. It pulls the camping trailer.), and I would not consider it adequate to be truly comfortable for 5 adults for a 500 mile r/t journey (OTOH, comfort is arguably overrated -- depends on the adults).
I don't really consider the Toyotas I've known broken in until they have about 150K miles on them. Can't speak to particular models/years -- mine have included a 1994 small pickup (went to 200K miles while I owned it and still plugging along), and now the Tundra (but it's at 90K, so just hatched); my mom's Corolla is maybe 200K, and my dad certainly got 300K out of 1 or 2.