Are you looking at similar aged vehicles?
All three vehicles have their strong points:
Innova - car-like driving dynamics, good looks, decent to good fuel consumption, good power.
Crosswind - very simple mechanicals (cheap to take care of outside casa), rugged, good fuel consumption.
Starex - tons of space, nice, soft ride, great engine power (for the turbo).
Among those you've listed, the Starex has the biggest passenger capacity and the most comfortable ride. It's my choice of the three. This is considering the Starexes in your range are already CRDi, as the older non-CRDi Starexes aren't as fuel efficient as the Crosswind or the Innova.
The Crosswind is the one to get if you want something to last forever. It's like a jeepney with an aircon...

(I'm getting another one myself).
The Innova is the one to get if you're uncomfortable driving vans or AUVs. It's easier to drive than the other two in traffic. While D4D issues are worrisome, it's possible that the current ECU fix (as detailed in said thread) has solved this.