We have both a Jeep Liberty (2011) and just got a new Dodge Grand Caravan (2014) to replace our old one. If it's just Chloe, I can either have her ride in the cargo area of the Liberty or fit a crate back there, but it is way too high for Mulder to get into even with a ramp. Even Chloe needs a boost (she puts her front paws up and I hoist her rear). Besides, they don't make the Liberty anymore, so that's probably irrelevant.
For dogs, we mostly use the mini-van, with the 3rd seats folded and 2 crates in the back with room for some gear as well. I have two kids as well (ages 14 and 11) so don't want to drive anything that requires the back seats being folded down on a regular basis. Was hoping to avoid getting another mini-van, but have to admit it fits the bill.
For what it's worth, I drove the 2015 Jeep Cherokee for a few days recently while one of our cars was in the shop and LOVED it .... except for the cargo area as you can no longer fit a crate back there (you could with the original Cherokee - we had a 1994 one for years). If I didn't care about the crate, and only had one dog or no kids, I would have been tempted by it.