A Toyota Auris / Corolla would be the obvious choice if you get on with the Yaris.
A Honda Jazz is about Yaris-sized but more spacious and practical.
If you don't have a problem with SUVs, a Suzuki Vitara could also be an option. Personally, I think it's slightly easier to get kids in when the seats are a bit higher up.
A Hyundai ix20 or Kia Venga (basically the same thing) is a bit of a halfway between a hatchback and people carrier, so also quite practical.
I'm assuming your dogs aren't very big and aren't crated?
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