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I don't have a recommendation, but if you go with a Caravan or Town & Country, be aware of limitations of the back row:

It isn't on your list, but I'd highly recommend taking a Kia Sedona for a test drive. We took a day to do test drives on all the vans. And I mean ALL. We did older models and nearly new models of the Sienna, Odyssey, T&C, Grand Caravan, Quest and Sedona.

Turned out my inclinations towards the Odyssey were totally outweighed by how much I loved the Kia.
They really prioritized cabin noise, so it was super quiet AND it was way more nimble and peppy than the others we tried.

We picked our commuter for longevity (Consumer Reports, J.D. Power and Edmunds ratings were all considered), and while I did the same level of research for my minivan, it really came down to the test drive for me.

Oh, and here's why I crossed them off the list in addition to a bad test drive:
Grand Caravan/Town and Country: Felt like a boat more than our old Buick did. Terrible. Also, I hated the hinges on the floormats for the stow and go seating. My kids crawl in and I can see them scraping their shins way too easily.
Sienna: I thought I'd love it, but it also drove poorly. In addition, the plastic trim on the captain's chairs appears easily damaged and was sometimes missing altogether.
Quest: TERRIBLE crash ratings. Also didn't like the front view, I felt limited.
Odyssey: Also didn't drive great, but I'm pretty sure this is the one with the open area in the front seats. I HATE when my child jumps up front to push all the buttons and drive the car, so I prefer having a console.

We bought our 2012 Sienna XLE in 2015 - so 3 years used - with 38,000 miles on it Certified Used from the dealership. We typically buy 2 year used vehicles, but because the mileage was so low, we went with it. We paid $26,500.

I think the difference in Toyota vs. Honda is down to personal preference in terms of the drive. We prefer Toyotas - we have a Prius plugin that we love as well. Generally, they feel heavier and more solid vs. a peppier Honda. The V6 engine in our van has a good amount of power, its a very comfortable ride for the driver and all the passengers (DH and I are tall and larger bodied), and the mileage is really good I feel - usually about 23 mpg for us.

When compared to buying a similarly equipped van new, we were saving about $20K, so getting the used vehicle was a no-brainer. But I told my husband that I only wanted to drive a van if it had leather (the kids will DESTROY cloth seats), automatic doors, and automatic liftgate. I did not care about navigation or touchscreens, since we have phones that can give directions, but I did want a backup camera. My preference was captain's chairs for 2 kids in their own carseat.

Our Sienna XLE delivered all of those things and the captain's chairs actually have an insert where you can seat 3 people across in a bench formation, but it wouldn't work for a 3-carseat situation. The cargo space is amazing (we usually just keep the 3rd row folded down) and I absolutely cannot live without power doors and lift-gate anymore - with an armful of kids and all their stuff, it is the best thing ever.

We bought the van with the idea that it would be our only minivan and then we could get a nicer/more fun car later on, but my husband, who was very on the fence about it and had to give up his beloved Jeep Grand Cherokee for the van, actually loves it more than I do. He ADORES the van, its really funny. He says its the best car he's ever had.

I'd say test drive them to be sure.

I was pretty set on the Toyota vs. the Honda, but when we test drove them, it was a no brainer for us and the Honda won out. We have never been happier.

Definitely do your research and a lot of test drives. We just bought a used 2015 Honda Odyssey and we love it. In comparison the Grand Caravans felt cheap and didn't drive well, but obviously there's a big price difference. My husband was really interested in the new Chrysler Pacifica but after we test drove it, we both hated it.

We just bought a 2017 Grand Caravan GT and so far love it. I'm still struggling with the idea of owning a van (would've preferred an SUV, but $$)

It doesn't feel any different to drive than my traverse did, size wise. The GT offers all the features - leather, heated seats/steering wheel, power doors, remote start. I liked the Caravan better than the Pacifica and the Town & Country, but mainly because the GT had all the luxury features.
We paid just under $20k for 35,000 miles, and did put an extended bumper-to-bumper warranty on it. With all the electronic/tech features on the new vehicles little issues can add up, so that was highly recommended.
Fingers crossed this vehicle lasts us a long time! The tranny was going out in my '14 Traverse which is why we traded up.

I just bought a used Honda and really like it so far. Honestly I was pretty set on an SUV but I couldn't pass up on the low miles + price of the van. I'm so glad I did because I can already tell how much easier getting to the third row is in the van. Plus it has a ton of storage. I honestly wasn't willing to get any other brand of minivan but I agree with the others posters that you should test drive them all and research the best option for your family. Let me know if you have any specific questions.

you Need to look at how many kids you have or are planning on having and what that means for car seat configurations.

We have a 2014 sienna and I like it, but don’t love it. It’s incredibly annoying for car seat configuration as I have 3 under 4. You can only put a forward facing seat in the middle seat of the back row. It doesn’t leave enough room to put a booster or a rear facing beside it. You can forward face or rear face in the 2 captain chairs in the middle row. I thought having 8 seats is easily be able to fit 4 kids in car seats ( if we had a 4th or if we were traveling with my nieces or something) but that’s not the case. I’m not sure if the newer models allow for a different configuration though.

We have a Pacifica and I love it. We had a T&C before, but I prefer the Pacifica.