It's not the size of your van, it's what you do with it.
Phallic reference aside, I have both extremes. A "mini" van (2014 Transit Connect) and a "mega" van (1991 G30 EB).
The smaller van is really nice for over night trips with just my girlfriend and myself. We can haul any gear we need, knock down the back seats, and catch some easy rest. It's easier to get in and around big cities and is generally less work to drive.
The bigger van is nice for longer expeditions out into the woods. There's room that we can take coolers, tables, camp stove, firewood, and anything else we could need and still sleep at least 3 adults very comfortably. It goes pretty much anywhere I want it to and I generally don't worry too much about it getting dirty or bumped into. It is a lot more work to drive in town though. It's difficult to park and can get a little hairy to drive through traffic.