The Toyota Sienna Woodland Edition has .59 inches of increased ground clearance compared to the other trims. Also gets 35/36 MPG since it's a hybrid. MSRP is $45k. the e-AWD system isn't as capable as a mechanical AWD system, but it is enough for most cases.
If you need a better AWD system or if that is too pricey, I'd get a Honda Odyssey or Kia Carnival. I rented a 2019 Odyssey on Turo for 1000 miles, and I couldn't have asked for a better minivan or car for the job.