The Innova would be a safer choice, the Carens is more refined and has a lot of features similar to euro standards it would have better fuel consumption for city driving having a smaller engine displacement but a sore loser for highway driving especially if you have 7 passengers. The Carens is a unibody car, so the comfort and driving pleasure will be there, compared to the Innova with wide body but bigger chassis. But if space is a concern then the Toyota is a sure winner.

You might want to consider an Isuzu Crosswind for versatility or a Peugeot 5008 for class.