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First of all, congrats on the upcoming kid!
As far as expectation are concerned, I'd say forget all of your expectations. Literally anything can happen. You may find that you won't need a minivan / SUV at all! Or you may find that nothing less than a full size minivan would meet your needs. You'd still want to go ahead with whatever plans you think will most likely happen, but don't be tied to the idea.
My biggest question is -- with the baby in the family, how many vehicles are you planning to keep? If you're OK with having 3 vehicles, I would embrace the idea of a boring family hauler as bland as distilled water. Besides, either of your current vehicles is totally capable of driving your family (of 3) around, so even if you are going to trade in either the FoRS or F-SVT, there is still going to be at least 1 fun car around.
Lastly, get as many car seats as the number of vehicles you plan on using to drive your baby around. (Usually that means 2+.) Or if you're using the detachable baby bucket type of baby seat, get a base for each vehicle that you'll use to drive the baby around. Baby car seat installation is an absolute major PITA. Once it is installed, you don't really want to mess with it.
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