Five tall adults is a hard task for any car, but I thnk you are best looking at medium sized 7 seat MPVs and keep the thrird row folded down.
Grand C-Max, Mazda5, Kia Carens, Grande Scenic, Zafira (ugh), Touran. For a petrol car, I would go Mazda anyime; diesel either the Ford or the Renault.
From experience C-Max would be tight, leg room is OK (ish) but not wide enough for 3 adults to sit in comfort. S-Max would be probably be perfect.
Carens is OK for legroom but not certain about width. Good diesels, rubbish petrol.
The OP needs to go and look at all the suggested cars and make a decision from how they are in real life.
What about Seat Alambra. Looks good value and is big but diesel only.
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