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Both the CR-V and RAV-4 are self charging hybrids, not PHEV (plug in hybrid), so if your choice is between those two, no need to worry about it.
But, the description of your requirements does suggest that a PHEV would suit you better. With a PHEV, you plug the car into your charging point overnight, that way when you leave the house, you always have a full charge. With modern PHEV's, this is going to be 20-30 miles if driven with restraint at urban speeds. So if that sounds like most of your journeys apart from visiting parents, maybe that is what you should be looking at rather than the Honda and Toyota. With a self charging hybrd, those same urban journeys are likely to result in around 50% use of the engine.
In terms of a (PHEV) SUV, there is not a whole lot which jumps out for £35k, just the Mitsubishi Outlander (which, going by what i have read, isn't actually that great a car) and two Kia's, the Niro and XCeed, but i suspect these won't be spacious enough for your needs. By all means check though, as a new Kia will come with a 7 year warranty!.
But if you were to consider an estate, a couple of possibilities are the Skoda Superb and VW Passat. Both of these offer plenty of room, especially the Superb, both are available new for under £35k and both are plug in. My only concern here is the DSG gearbox, but possibly the hybrid setup gives it an easier time(?). But also, as these are new cars, you will have the reassurance of the warranty for at least 3 years.
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