If you are willing to switch to a sedan, the VW Passat can fit some one 6'1" in the front seat, and someone 6'1" behind them, 3 car seats across the back row and about 6 bodies in the trunk. The 1.8T engine gives you both great fuel economy and performancce. For even better fuel economy, the TDI diesel cannot be beat. I have a diesel Gold and can boast 52mpg on a trip from Cape Cod to the Philly area.
For an SUV, look into the Mazda CX-5. Large front seat space and great fuel economy for an AWD vehicle. Plenty of hatch trunk space and small enough to park on a city street without too much issue. There are additional Tech safety features you can opt for, but at any level it's a great vehicle.