Consider the 1st gen Sequoia (00-07) if you need extra space for passengers AND their gear.
For the past 17 years, my SUV of choice has been a 97 Pathfinder, and while it's suitable for 2 adults and maybe 2 younger kids, it's very cramped for 4 adults and gear, especially for a multiday camping trip.
I recently picked up a 2005 Sequoia Limited as my "family camper" and it is huge compared to my Pathfinder. Before choosing the Sequoia, I looked at other vehicles, including the GX470, 4Runner, and Land Cruiser, but none of them have a comfortable 3rd row that also allows for storage behind the 3rd row seat. What good is it to fit 5+ people in the vehicle for a camping trip, but you can't fit any camping gear with you?
I found that the Sequoia has a very comfortable 3rd row seat, even for adults (I'm 160lbs, 5'9"; 30" inseam), and there's decent space behind that third row for gear (electric fridge, camping gear, etc.) I got the model with the 2nd row buckets, so that 3rd row passengers don't have to get in or out by folding up the 2nd row seats. Seating capacity is reduced from 8 to 7, but that's still better than 5.