An Innova plus a compact or subcompact would be a practical suggestion. Most CUVs and pickup-based SUVs are used the same way as an Innova so you got yourself a spacious people hauler.
I agree, 1 MPV and 1 sedan is a good choice particularly if you have kids and both you and your wife know how to drive. The only drawback is it's more expensive to maintain 2 cars.