My family and I went on a down and back road trip in out 4Runner that lasted a total of 800 miles. We had six people, five bicycles, a walker and enough luggage for 5 days. The Toyota handled all of the gear, but we has to put some of our things into a roof bag, because it would not all fit inside.
One convenient feature is how the second row middle seat folds down by itself, on road trips you can fold down the middle seat and then the people in the back feel included in conversations, and the middle row occupants have more space then they would if somebody was sitting in the center seat. Also the folded down middle seat is a good place to play cards on.
A bulky walker can easily be strapped to the back of a bike rack.