Get a toyota or a honda. Avoid the newest toyotas trucks, and the new honda sorta truck thing. Other than that, its hard to go wrong with a well maintained example of either.
If a sedan is your cup of tea for this, get a camry or accord. If you want a smallish SUV the rav4 or crv are both good cars. Both companies make a damn good mini van. Getting into larger SUVs, get a toyota avoid the pilot.
Inexpensive is a sliding scale based on each person. 2010ish Camrys caost about 7-10K for nice examples. A decent accord from the same time frame is 6-9K
The accord has a shocking amount of room in the back seat. I rode in one for a work function and I couldn't get over how much leg room I had.