I too am in the same boat as you, I've got me, wife, two kids ( 2 - 4, and one 15mo in a rear facing seat ), and a dog ( who would never be allowed in my durago anyways

).
If you don't get the 2nd row captains chairs, then forget about it, it's just to much work, however.. if you have them, then utilize them like I do, the two bigger kids get the captains chairs, and the little one gets in the back right side ( that's nor normal, sometimes she's behind me in the captain chair ), you can lay down on row of seats in the back ( passenger side )and use the cubby space. It gives you ample room to stack up full of things you need. ours works out well, and I'm still getting 20~ miles to the gallon. I managed to fit three suitcases, filledup the bin below with some snacks, and other various things, and I got skies on the roof, as well as blankets etc. I've got each kid their own ipad with ipad head rests, and lap pads with keyboards. The smallest one is easier to get to because of the captains chairs, and i can have the 5 year old check on her from time to time ( during longer rides ). All in all i've gotten the entire family to michigan and back with 2 adults, three children, and a car seat, not only was it okay comfort wise, but it's was cheaper than taking the trip in lets say, a yukon, or expedition. Not to mention if you have the roof racks, you can get a whole 'nother stage of cargo room.
good luck!