Alphard owner here, if you like to be driven around then the Alphard is for you. The ottoman 2nd row chairs are one of the most comfiest chairs fitted to any vehicle I tried. Maliit lang the price difference between the 2.4 and 3.5 and for me parang hirap the 2.4 pulling the Alphard.

In your case, it seems that the Explorer is more suited to your requirements.