Before we had a baby, we had a TSX and a Tribute. We sold the Tribute, because it was too small for the dogs already. Tried to fit the baby seat that my wife picked out into the TSX. It fit. Barely. In any case, I didn't like the TSX so I sold it and replaced it with a GS430. It fit in that quite a bit better than the TSX which was quite surprising to me. I guess my point with that is that to test fit everything with your baby seat, because what they do and don't fit in doesn't always adhere to what is expected.
We needed to replace the Tribute, which was the wifey mobile. I had strongly wanted a minivan. My wife was strongly against them. I won the argument when I asked her to pick up our Great Pyrenees and put him in the back of the Tribute. Of course, being 4 months pregnant at the time, she couldn't--even now, 6 months post-C-section (and my wife is probably bigger/stronger/more athletic than most women), I asked her to put Milo on the bed--about the same lift as an SUV. She could do it... barely. Milo certainly wasn't having fun with that experience. Anyways, she realized that an SUV was too tall, and after test driving a couple, realized they're a horribly inefficient use of space. So we looked at the MTHAEP (Minivans that have an ego problem), i.e. the Ford Flex, Traverse, Santa Fe, etc. She liked those well enough. Then we looked at the price of the leftover minivans to what we could get an SUV for. And she finally relented into the minivan.
Well, our life took a bad turn and things didn't work out the way we wanted, and we don't really need a minivan right now (although it is still the best tool for the job). I asked my wife if she wanted to sell the minivan. She looked at me and said "when you pry the steering wheel from my cold dead fingers". I don't foresee a situation in the next 30-40 years where we don't have one in the fleet, and it isn't going to be me who is behind that sentiment. All it took was 1 week of sliding doors and a ride better than a Cadillac; she's convinced.
Now, this isn't to say that there aren't other vehicles that will work. We have a large dog though, and my wife packs for a weekend like she's furnishing a new department store. No dog? Only 1 kid? Pack light? You'll be fine in a Corolla. Pack like my wife, and you need something much larger--also, the baby stuff takes up an astounding amount of room. Between the stroller, baby seat, diaper bag, pack and play, etc., there is an astounding amount of stuff. Most of it not necessary--you only really need the diaper bag and the carseat, but try convincing a new Mommy that it isn't.
I'd say stick with what you have for now, because it will be fine, at least for the time being. Figure out what would work better. Plan a route to having a minivan in the fleet, but it doesn't necessarily need to be the DD for either of you (although I'd bet it becomes the DD for someone).