The Avanza, despite seats allowing more than 5, isn't really ideal for several people. The Lite Ace had a lowly 1.5-liter engine carrying a heavy body and up to 8 passengers. Having the same size engine, albeit more advanced, the Avanza unfortunately seems to head the Lite Ace way as well. Personally I think it's more like a 5+2 than a dedicated 7-seater.

For the thread starter, the Innova is a more suitable vehicle. You can get a gas or diesel engine with modern technology (AFAIK Toyota has already corrected the D-4D problem with our diesel fuel. Just confirm it to be sure). The interior is also much better than your usual AUV. Handling is surprisingly good as well, but the ride should have acceptable stiffness.