I am in the same boat. I could technically squeeze into my small SUV with two carseats, but I'm not keen on it, so I'm looking at midsize SUVs with a third row for when we have family in town to chauffeur around (we have no family in town and have visits about every 6-8 weeks). I hope to avoid a minivan.
In my search, the two best options for my situation that isn't a minivan (among non-domestic cars- it's just my preference) are the Acura MDX and Honda Pilot. I like them the best because they have LATCH hook ups in the middle seat of the second row and look like they would be the most likely to easily accommodate two seats of any size across the back with one seat leftover in the outboard position for a parent or grandparent.
I also looked at the Toyota Highlander, Nissan Pathfinder and Mazda (I forget the model name- CX-9?). I considered looking at the Subaru Tribeca(?), but I ran out of energy.
The Toyota 4Runner might also be an option, but it was too trucky for me.
Good luck- car shopping with a two-year-old when you're also pregnant is a challenge.
Adele