The only downside to the Commander and smallish children is the difficulty for them to get into the back seat. The lower part of the door is pretty small so my 4 year old has some trouble getting in. He does, but it is a struggle. Running boards may help that.
I feel your pain, when we got the old double stroller it wouldn't fit in the Taurus. We got a Chrysler Town and Country at that time. Honestly, Minivans are far more family friendly. I just am not personally going to drive one. I just can't make myself do it. There's no reason other than the whole minivan stigma though, ours drove great, got decent gas mileage, hauled a ton of stuff, rode nice, and hauled 7 adults with room to spare, and had excellent traction control for the winter. But, you're never going to go offroad in a Minivan. I only say this to let you know that there are other options, it doesn't have to be an SUV.
Me, I'd get the Commander and running boards (my wife won't let me buy them) over the Minivan. But I did need to point out the practicality of them. However, 24k for a very used, and neglected Commander seems high. You'd get about 17-18k on a tradein on that same Commander.