Perhaps a Ford Transit Connect? How much height do you need from cargo floor to ceiling? The Transit Connect has a couple inches less vertical space, but still considerably more than most SUVs (e.g. five more inches than a Ford Expedition). It also handles far better than the Element. The current generation is 2014 and up. The previous generation is taller, and so might have more space, but was far less refined. Conventional minivans have a similar amount of vertical space, but are larger and less sporty.
Do you also need all-wheel-drive?
If so, possibly a Nissan Xterra or Toyota FJ Cruiser. They're taller than most SUVs their size, and so might have more vertical cargo space (I haven't personally measured them).
Or, if you're okay with a full-size minivan, the Toyota Sienna.
I found this forum thread.