2 adults + 3 kids? That alone fills up most XL.
Remember, you can no longer sit anyone in the passenger seat, so you'll need all 3 in the 2nd row, if there are 3 seats there. Some are bucket in 2nd row too. Plus you'll need the 3rd row for seats. That leaves little room in the cargo area. The stroller likely pushes the area over the capacity. You could order a vehicle and if you don't fit, order a 2nd