We bought a VW Euro-van when our first was 3 months old -- short version is that we looked at each other and said "how will we ever get out again", and went and bought the thing. We did some research, but there weren't many deals to get on them: VW had just re-introduced them to the US, so the choices were engines too small to get us to the mountains at highway speeds or buy something new.
We've loved it.
We bought the weekender package, so no closets, no countertops, but the back seat folds flat as a bed (or to carry 4 X 8 plywood sheets) and the top pops up containing another bed. It's also easy to pop the top and then lift the front half of the upper bed, which makes a space tall enough to stand in. We live in Colorado (AKA it doesn't rain here much) and do most trips to Colorado and Utah, so chose on the principal of "if the weather sucks too much to cook outside, get a motel room."
It gets decent, not great, mileage. It's really, really easy to set up for sleeping: our kids never enjoyed car travel, so for longer trips we'd have dinner at home, put them in their PJs in their carseats, and drive until we were too tired to drive more, then pull off, pop the top, and be sleeping before the engine fan turned off. It's fairly comfortable for long trips, and the extra space in the cabin (along with the popup table) means it's comfy for, say, putting on ski boots, and also we can sit around the table and have lunch (or just take a break) like real civilized human beings. We've gone skiing (both backcountry and at small area, where it really shines) more times then we can count, and taken it on car-camping trips to the desert dozens of times. When the wind picks up in the desert it's really awesome to be able to get out of the blowing sand for a break!
It's also super-convenient that multi-day backpacks for the 4 of us just line up across the back deck, which makes it easy to get going both on skis and hiking boots. It's a small thing that we can all just grab our packs, but it's lovely. It's 2WD, but we've driven it carefully down all manner of not-really 2WD dirt roads. We carry a shovel, just in case we need to do a little road work.
I'm irritated that VW doesn't bring in the TDI/synchro combination, because I'd buy that one immediately, as it has 4wd + better mileage. Right now the car is going on 20 years old and the transmission is purportedly starting to go, and I have no earthly idea what we're going to replace it with.
My suggestion is to do your best to assess what you realistically are going to do. We've found that having the van (and having it pre-loaded with lots of things) reduces the inertial hurdle to getting out and doing stuff, and has definitely been worth it. We sort of got in the habit of going on a trip a month (or more), so it was relatively easy to just get everything packed up and go. The more you don't go, however, the harder it is to go: you'll forget stuff the first time, etc. etc. Also, with small kids, I highly recommend making some shakedown trips nearby, so if you have to bail it's not too big a deal.