I drive a 2008 Toyota Sienna that I love. It is my third Sienna - the first did great in Upstate NY winters for 6 years. The second was AWD and did great on unplowed WV roads (except that the run flat tires were really expensive), and the third has no reason to worry about snow where we live now!
But if you don't like minvans, you don't like minivans. DH just bought a 2012 Toyota Highlander with a third row seat. It cost about the same as my Sienna and is smaller, but he feels better driving it.
His car is plenty functional for the soccer carpool, but we will still take mine on vacation - it has a lot more storage space if you need to use the third row for people. You can buy the Highlander without all the bells, whistles, leather, etc. that DH bought, and I think the base model is about $10K less than his car.
As others said before me, you can
1. pay cash for your cars
2. put down a large downpayment (or have a trade-in worth a good amount)
3. buy used
4. finance longer (I personally don't recommend this, but it is an option)
5. lease (maybe?) - not sure this is a good deal for most people, but I do know people who leased nice cars so they would have a lower payment
6. budget for higher payments.