We had a Town&Country, two Odyssy’s, an Explorer, and an Expedition on the big car front.
We now have an S and an X (replacing our Explorer).
There are three of us at home. We have two boys who frequent often from college and two in-law pairs that come throughout the year. We got the 7 X as even though the back row is not regularly used, when it is, it’s a huge plus. We don’t find either the second or third row cramped. When there are occupants in the last row, we slide the second up a bit. The ability to fold flat the two rows is huge for us as I am at HD all the time.
The Odyssey interior is enormous. It seemed much bigger than the inside of the X. Our ‘15 was a bit cumbersome going in and out of the 3rd row. The Explorer was certainly less roomy in the last row and even harder to get in.
I’m not sure a 7 seater S would be a good bet for 6 passengers on a regular basis. I think your trunk space would be virtually null. I haven’t seen one in that configuration but am picturing my S with the back seats.
I would suggest a 6/7 X. That’s most practical of the two models for you. The 6/7 choice becomes one of preference and use case.
Good luck.