Mazda5 is well known for having great handling in a smaller minivan package, however the fuel econocmy isn't great - it never got the sky-activ engine treatment. Look for the 2012 or newer as this fixed several issues from the 1st generation. The interia looks a little dated vs other options.
Alternative consider the Ford Flex - it's a bigger more powerful vehicle than the Mazda but is much more comfortable.
If the 3rd row is only needed occationally you could look at the the Nissan Rouge.