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I have personally only driven the 2014 Sienna and 2014 Mazda 5. The Mazda 5 is a bit more fun to drive but technically it is considered a "mini" minivan because it's based on the Mazda 3 platform and it's so much smaller than other minivans.
Since you are looking for a lot of space I'd recommend you go for the Sienna. Lots of space, lots of option to choose from (if you want), and pretty good driving dynamics despite it's large size.
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