You would be fine with a Pilot.
I haul three kids + extras + a stroller + groceries all the time and not once have I thought gee, I really need a van. There's plenty of room behind the 3rd row, you just need to load stuff through the glass window, instead of the liftgate.
Put the TrueFit behind the driver, and the narrower of the boosters in the middle (we don't have the Vivo in Canada so I don't know its dimensions), and the wider booster on the 40 portion. You will easily be able to tilt/slide the 40 portion forward to access the 3rd row. If you need more legroom in the 3rd you can slide the entire 2nd forward. I think of the 3rd row as more of a 2-seater, but I have put three seats back there when needed.
You have 4 sets of lower anchors (latch), and 6 tether anchors. Which is amazing.
It's very kid/family/stuff friendly. I'm going to drive mine into the ground, and then maybe get a new one for hauling the grand babies.