Relative to people on this site, that's a pretty bad choice from the standpoint of being frugal.
Relative to an average American, it would probably put you in the spitting range of the pinnacle of frugality.
I always like the 1/10th rule as a gauge of where we start to consider a car purchase relatively frugal. Don't spend more than 1/10th your gross yearly income on a car.
That kind of squares with recommendations around here of trying to keep a car purchase at our below $10k, assuming many readers are within range of a lower 6 figure income.
Realistically that rule would put you at a $20k vehicle as being pretty "frugal". At $30k we are still only talking 15% of your yearly take home. I honestly think you are completely justified in spending that. People with that income depending on location and amount of kids on average are likely driving a more expensive car or even worse leasing.
Just don't lie to yourself. By choosing to spend $30k instead of $25k or $20k you are doing so likely as more of a luxury and robbing yourself of a chance to create wealth even faster. But hey your primary goal may not be very early retirement.
If you really just wanted utility my engineering co-worker with 3 kids just shopped to get a family van that could handle a growing family. I think he is shooting for 5 or 6 kids. He also wanted the vehicle to be able to tow a decent load.
His final solution? He picked up a used Ford 8 seater commercial van with a towing package. A standard family van with 30-40k miles, even used, runs probably $30-$40k and it can tow at all. The used Ford commercial van cost him $18k with a towing package, 30k miles and 2 rows of removable seats for mass storage. It even has a back up cam... He might not look as cool as the person driving the nice truck or SUV though, depending on what you think is cool.