Need new family vehicle

I bought a 2012 Tacoma TRD Sport when I graduated college in 2015. I love my truck and wanted to drive it to 1million miles, but I have a family now.

With my latest trip to visit the in-laws I realized the cabin is too small. It got cramped with my pregnant wife, 2.5 y/o toddler, and our dog. My dog and toddler took up the whole back seat, which made my wife's and my drive uncomfortable as well. When we have our 2nd child I can't fit all of them back there.

I love having a truck bed to haul all of our luggage and gear. Normally I dont use my truck bed too much and hardly ever tow things. Its nice to be able to have that option whenever something does come up and I need that ability. I dont go off road a whole lot either and when I do its nothing crazy, just to go through some short trails in pine woods.

People who faced this same scenario, what did you end up doing? Im not looking for a 70-80k vehicle either. That's a little out of budget