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Go to the local rental office of the company you will be using and ask if you can check out the interior space for a rental. Most of the national chains will let you check out the vehicles to see what will work for you. Luggage seldom complain about being crampped and packed in, but, people will. So for the sake of harmony, don't go smaller if the added cost of bigger will keep the friendship intact.
You will probably have to go with a full size van. Most full size SUV's only hold 5 people. The mini van and large SUV's will hold 7 people, but has little room left over for bags.
I would spring for a full size, with that many people you will want a little more power. I don't know how many days you will be renting or if you live in a hilly part of the country. If I wasn't going to be burning a lot fuel (100 miles) I think people might enjoy it even more if they aren't limited to what they can take
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