Since you are a family of 5 and open to the idea of a 7-seater, we would recommend opting for a 7-seater, as every member of your family can sit in comfort. We would suggest you look at the Maruti Suzuki Ertiga or its sister car, the Toyota Rumion, as they offer a fairly spacious third row of seats and are powered by an efficient 1.5-litre petrol engine.
The ride is also very good, and at highway speeds, it’s stable. Though over undulating roads, it does have some vertical movement at the rear, but it’s never excessive.