I bought my father a minivan as well, I end up driving it a fair bit when I'm taking care of him, as I can load his disability scooter into the back with some ramps in less than a minute. He isn't ambulatory, he's had 2 hip surgeries, and is now on the waiting list for his 4th back surgery (back injury while on the job in L/E, and hip replacement x 2 as after the first one he had a fall in the hospital while in there with covid for 3 months, and dislocated the hip replacement socket/etc).
He/we have a Pacifica Hybrid. Yes it's a Chrysler (booos sound), but it's been 100% reliable, has about 30k km on it after 4+ years now, and it is actually pretty fun to zip around town for/with him. Usually the gas motor isn't even used, and overnight it'll charge to 100% off a regular wall socket, and give about 50 to 60km of electric only driving. The only thing I wish it did was allow you to shut down the electric option by choice, ie let you drive on the highway in gas only right off the bat, and save the electric power for when you arrive at another city destination, for running electric around town there, instead of burning up all the electric power on the first few dozen km on the highway.
I might replace it with an AWD van, as even with winter studded tires, it's not as grippy as I'd like. That means losing the PHEV capability, as no vans have both the plug in hybrid as well as AWD right now. I do really like the Toyota van, as well as the Honda(not awd), and will check out the Kia/etc ones as well this time around.