What car would be best for my family of 5 plus a mastiff and a pitbull?

I have two toddlers aged 2 and 3 a 150 pound mastiff and a 45 pound pitbull and we're looking to have another baby in a year my question is we have a caravan and it kills us on gas even though its perfect for us and dogs but quite frankly as a young father "25" i'm done with minivans we're looking for something that gets great gas mileage that we can fit milo who 150 pounds and diamond who is 50 pounds plus our kids so we can go on family trips back north. Either way we would get a roof rack for our gear we would go on a 2k trip twice a year but really we always do city driving barely any highway… I like the prius v gets 44 city 40 highway also the cx 5 and the ford 150 and the Silverado and the Tahoe. But my question would be should I just get a good mpg town in city driving car and rent a suv for long trips… Like if I rent a car it would be a van or Tahoe which is 750 for 14 days plus the gas is 800 there and back so 3k plus a year just for rental and gas i'm so lost lol

Honestly you're looking at a truck or minivan to say the least and even the most gas efficient ones aren't that great on gas. The rental car option looks better but most companies require pets in a carrier or have restrictions depending on the company. A Toyota High lander might work or depending on your budget getting a hybrid.

How about ford excursion

2013 Ford Explorer, Yukon XL