I have to agree with FLU here for many reasons! As a former parent of young children I speak from experience with them and elderly parents in the area we spent considerable time with.
A minivan offers an elevated clear view of the surroundings for the rear passengers unlike an SUV. Looking around my kids became naturally inquisitive about their surroundings and asked many questions. That natural inquisitiveness has remained into adulthood
Put two kids in the backseat of an SUV and you might as well ring the bell for the first round of the battle royale. In the separate captain seats in a minivan they are close enough to interact playfully without ending up in a wrestling match. It helped my kids bond and develop a sense of kindness for each other that remains to this day.
Kids are generators of filth! They spill, drop and throw things they eat and drink. It is impossible to clean the back of a car or SUV of the amount of debris that kids generate. With a minivan you can quickly and easily remove the seats for proper sanitizing of both them and the floor beneath them.
While you have the seats out you have a vehicle for hauling that exceeds that of a pick up truck because it is sheltered from the outside. Need to move furniture? pick up a new bike? get an extensive science project to school? The minivan is your answer!
Good luck having grandparents climb in and out of an SUV. Inevitably there will be accidents and visits to the hospital, the doctors office and the ER with them. Climbing into a vehicle with an elevated wheelbase is more trouble for them than you could imagine. In the rear, the captains seats also offer better support and closeness to their grandkids while maintaining a comfortable boundary for all.
These are just a few reason while a minivan is the one and only right answer for a parent of infants with grandparents in the home. As someone as pragmatic as you it would be almost irresponsible to get anything but a minivan.