What's your budget?
I would not drive or ride in a Toyota after the latest news on that company. I've had a Ford before and it was awful. We had a Jeep Cherokee that was great and a Chrysler Town and Country that was great as well.
That said, we LOVE Mercedes and since we bought our first one, we will never drive anything else.
I currently drive a CLK 350 which would be too small for a family. It has 4 seats but is a good 2 seater car. It is scheduled to be daughter's car in Dec when she turns 16 because it will be 4 1/2 yrs old and in mint condition except not her favorite color of gold. Oh well.. it is white and a 2007.
Hubby drives an E350 and LOVES it. It is a great sedan, good for 4 people, good space in the trunk, he never takes the gold clubs out and we still have room for everything.
We have a new SL550 on order for me for December'ish when we hand over the keys to my CLK.. It would not be a family car, it is a 2 seater convertible.
We can't say enough good about our experience with Mercedes. They do have some more affordable sedan models....check it out. They are very safe and top quality.