How soon after having a kid or kids did you guys feel the need for something bigger than a sedan?
How many kids do you guys want, and what's the schedule like? With one kid, our Hyundai Sonata was perfect - it helped that the Sonata has a very large trunk. Two kids now, with the oldest turning 4 - we've really been enjoying our Acura MDX (which depreciate to roughly the same price as similar year Honda Pilots, only with better interiors). You gotta remember you're going to be accommodating at least 1 extra kid from time to time as your kid(s) get older and you start hauling their buddies around. The third row of the Acura works well with the Diono low-profile seats but not infant seats or other convertible seats.
If you're planning for 2-3 kids and want the room, my buddy really like the Buick Enclave which (I think) has captain's seats in the second row that allows easier access to the third row.
Even if you like new cars, this might be a time to get a used car. You have probably a 50% chance of not liking the way the car works with a kid, so don't eat all that first 2 year depreciation if you have to sell it. If anything, I'd say maybe buy an older model and try it for a couple of years, then pony up for the new car purchase if it works for you.