I have a Honda MDX 7 seater SUV and I love it. I have a 4.5 and 3.5 year old and already checked that three seats will fit across the back when #3 comes along next year. It is seriously luxurious - leather and electric everything, DVD player, reversing sensors etc. My folks recently borrowed it for a week when the had rellies staying and Mum was a bit worried about driving such a big car after her little runabout, but really loved driving it, no problems parking it etc.

For your $20K I think you might be able to find one around the 5-6 years old.

The other one we tossed up buying at the time was the Volvo XC90 and it was great too (DH's first choice, my second) but they hold their value really well so I'm not sure if that would fit in your budget but worth checking out.

Have fun - so lovely getting a new car.