Is a minivan inevitable?

Hi there! Husband and I are currently searching for a vehicle our family can grow into, as my RAV4 is a bit cramped with 2 dogs and a baby. We plan on having another kid before too long and want to get a vehicle we can drive for the next 10 years/200k+ miles and take on road trips. So we’ll be a family of 4 with dogs (we’re dog people, will always have them and want to travel with them). We want to take long road trips, possibly bring skis, bikes, possibly tow a small camper.

My husband wants a fun vehicle and we looked at a few used BMW X7s but they might be slightly out of our price range. We looked at the Highlander and Grand Highlander, they’re just a bit bland and uninspiring.

As well only have 4 people we’re wondering if we really need a 3rd row or just the space. Everyone sings praises of minivans but again with only 4 people, is that overkill?

Would love any advice, personal experience, other recommendations! Thank you!