The Hyundai Ioniq is a pretty low car, If your knees objected to an Accord, I can't imagine they'd like an Ioniq any better. Plus, your wife would probably have to go in the back rather than your son, the sloping coupe-like (though admittedly aerodynamic) roof eats into rear headroom.
One of the other problems with many a modern family (Focus-sized) hatchback is that many now are lower than the previous generations of the model because the roofline is more sloped and lwoeer to presumably give better aerodynamic performance and thus mpg.
The Focus is one, the Mazda3 in particular is another, but many others definitely look more 'squat' than those designed 10-15 years ago. When I test drove a gen-3 Mazda3 (2014-19) it felt smaller inside than my gen-1 car, because it is 3cm lower. Not so bad for me at 5-10, but not so good for 6ft ers, especially in the back, particularly in the saloon ' fastback versions.
Many SUVs and especially crossovers may also not be that much better, because the higher overall height of the car is mainly from it being elevated at the bottom, which means they aren't as good handling (or rely heavily on stability control) and also not so good on mpg and in-use (wind) noise.
I might suggest the OP possibly looks at the converted van type cars, whilst they aren't the most aerodynamic or pretty, they may have extra headroom and better use of space (footprint) as well as others already suggested.
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