The Highlander seems more apt given your daily routines however it poses a problem when you go out of town since 8 full-grown people definitely won't fit in an AUV comfortably, let along the luggage.

A Vanette/E2000 is a gas guzzler, the Lite Ace is underpowered and an L300/Hyundai H100 may be a bit big for you in the daily grind.