I was the OP a few months ago after learning that I had not one, but two kids on the way at the end of the year. A bit of test driving and searching led us to the Sienna.
It can tow more than a most crossovers, has a stowable jump seat for the second row, and the third row stows pretty easily, meaning that our week plus trips to the cabin with two kids, all their stuff, and the pet will still be possible. Plus, it has a much higher GVWR, so I don't have to be quite as careful about loading it down for the aforementioned trips.
Of course, large SUVs will do better than the Sienna or any other minivan for towing, but with regular doors, getting to the third row will be harder. The cargo capacity inside the car is actually less for a Traverse than the Sienna, as even without folding down the third row, there's 39 cu ft, compared to the Traverse's 24 cu ft. That advantage remains with the third row folded down. At the same time, the Traverse has about 500 lbs more GVWR, so it can be heavier items.
I get the minivan hate. I was that person. But after driving them compared to today's SUVs, the cabin comfort is much better, an important piece when the rest of the time it will be my commuter.