Best model for 4 dogs and future kids?

I'm semi looking into getting a new car, one that's much bigger than my Chevy Cruze. I've basically landed on wanting a Toyota, but now I'm not sure what model... I was intrigued by the RAV4, but Highlander seems much more available in my area. I've also seen some people just recommend sticking with a camry...

I've got four dogs, three are in the 50-70 pound range, the other is a 10 pound rat. My fiance and I do want kids, and I am hoping to have this new car for quite a while so I'd also like something good for that... Is the Highlander my best option? Not wanting the Sienna, not due to ego, just don't think it is practical for our lifestyle atm

We are also looking into getting fiance a truck sometime. We'd like to have a small camper down the line, and we do some house projects/yard work and hunt. Tacoma or tundra? Either?

Thanks :)