IMO, Innova is very comfort for passengers. However it is too heavy too pulled by its engine. I rented Innova during my visit to Penang, fetching 6 adults 2 kids comfortably. But totally can not make it uphill, feel like a snail crawling. FC very bad. But it indeed comfort for passenger.

You can try look around on Toyota Wish.
Pro:
Within ur budget, decent power, enough cabin space for you family, easy to maneuver, good FC
Con:
Recon unit