i'm rockin a Jeep cherokee, with three small kids.
We just got back from two days at disneyland.
Stroller, two big bags, 2 deflated airbeds in a spacecase(westmarine) crate. very comfy for the drive up and back.
I think its a very easy thing to want something like an excursion, (no offense) but honestly I would ask yourself how big a truck you really need, and also I would look at what others around the world are using. I've seen lots of expeditions in diesel mercedes sedans, for example.
It's all about how you pack your gear and what you choose to bring.
We for example have a winch bumper/winch for recovery, an awning from camping lab for shade, and are going to put a thule rocket box (or 2) up top for gear storage on long trips. that'll leave the whole cargo area for food, water and cold storage. A swingaway tire carrier will hold a spare tire, tools, porta-potty, and possibly spare fuel.
point is, be realistic if you're set on getting a new rig.
but also consider if you really need to "offload" your fjcruiser. They're very
good rigs, IMO. With the proper storage system, I'd see no problem with one
for a family of five. (my inlaws have one, and we've fit 5 in there many times)
maybe also consider a small cargo trailer if your gear requirements are that
volumous.