The old Taurus that Ford gave out as a rental is a 6passenger sedan. Its not full size per se but it does fit 6 people in a pinch plus their luggage... Smooth ride and decent engine and average MPG. The middle center seat looks like an armrest in some models but it actually folds up.
As much as I would love to say take the taurus, I'd highly reccomend a Minivan or SUV with a 3rd row seat. My top picks (that rental companies have) are the Toyota Highlander, Kia Sedona/Hyundai Entorage, and Honda Pilo(rare). Also some Rav4 have 3rd row seats(not the sport edition and usually with cloth seats but are small). I also forgot the Mitusbishi Outlander(2007+) can come with a 3rd row but it is difficult to use at first...
Minivans are more comfortable for 6people and can get similar mpg to a Large sedanbut with space for people and their luggage. The Highlander is based on a Minivan and is also roomy.
Source: insideline's longterm tests(Pilot,Entorage,Outlander,Rav4) and experience with the highlander and being cramped in a full size sedan
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