"When you say MPV I think of Ford C-Max, Renault Scenic, Vauxhall Zafira, Citroen Picasso - these aren't based on vans, are they?"
These aren't full size MPVs though like the Shalaxambra, Espace or Voyager.
The main advantage of a proper MPV is the ability for seven seats and luggage space (ie crumple zone) without someone sat right up against the tailgate like you used to see in old Merc and Volvo estates with the two occasional seats clipped in the boot (the cheap seats as I call them)
Recent legislation regarding child restraints now means that anyone with more than two kids is forced to buy an MPV as three full size restraints cannot sit abreast on the rear bench seat found in most cars (including estates and the likes of Zafira, Megane Scenic, CMAX etc)
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MPV vs Estate new
MPV vs Estate new