tl;dr: No crossover will carry as many people + as much stuff as a minivan. It may not be the answer you want, but it's the answer you need.
We're a family of six. 18 year old, 16 year old and 12 year old twins. And the obligatory 80lb dog. The only reason we can now get away without a minivan is that our 18 year old hardly ever goes anywhere with us, so we generally travel as a family of five, or of four when I'm away for work, which is weekly.
For anyone here who says "we're a family of FIVE and it works great," well, sorry but you just don't get it, no offense. Anything can carry five people. With a family of six, the struggle is real.
We've lived with four minivans. Yes, they're everything that's bad about a minivan. And nothing else can touch their practicality for the price. Sure, you can carry the same people and some more stuff in a Suburban...for twice the money. I'll tell you, when we bought our last minivan, in 2015, we tried HARD...like HARD to find Any. Freaking. Thing. that could carry all six of us and a vacation's worth of stuff that wasn't a minivan. There wasn't. There's vehicles that can carry six, and vehicles that can carry groceries/luggage, but not both...except for a minivan or a Suburban/Expedition EXL (or whatever the extended letter soup is) So we bought low-mile (like 14k miles) used vans, and while a used van was in the high teens, low 20's...a used Suburban was in the high 30's to high 40's. We tried the Traverse and Acadia, the Flex, the Expedition (and only the extended version actually works), the fullsize Transit van, the little Transit Connect passenger van. We even tried 4-door F-250's. We climbed in every darn thing we could find in a lot. We got a fourth minivan...because that's what worked.
Okay, so there's the argument that the Ascent can carry six and haul all the stuff with hitch carriers and rooftop boxes, and that's true...but you have to drop the $$$ to get those things, and hassle with attaching/removing them based on need. For one vacation a year, sure...but to go to Sam's Club, Aldi and the Megamart for groceries weekly? And do you want to hoist your milk and canned goods up to the roof? Because if all six of you go shopping, you will be.
Now, the 3rd row on the Ascent isn't bad. Our 12 year olds fit just fine. But I'd call it a 3rd row for TWO people, not for three. And our Ascent will carry all six of us just fine...up to a point. For a vacation, we'd really need to fold down half of that 3rd row, because we DON'T own all of the outside boxy-gear to carry stuff. Again, it works for us because now that our son is 18 and doing his own thing, functionally we're a family of five, and we could finally ditch the minivan.
Incidentally, we thought we'd be going with the 7-passenger Ascent to make 3rd row access easier. But after we let all of the kids climb in and through both seating setups, THE KIDS said they preferred the middle bench seat. Surprised us, but hey, works for our coach passengers, and cheaper, to boot.
In my educated opinion? You need to do one more minivan. You don't want to. NOBODY wants to. Minivans are like Denny's...nobody chooses to go to Denny's, you end up at Denny's...and in a minivan. You could likely make do with an Ascent, but you'll really be trading off a lot of capacity.