Sure, until you need to tow a trailer weighing more than about 1500 lbs or drive on a dirt road where the minivan bottoms out. You might not need those capabilities but a lot of families do that stuff every week.
You can drive those off-road away from where people live, or you can get properly trained and insured for driving such a dangerous vehicle where people outside vehicles will be present.
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I don't tow, but when I had my Chrysler Pacifica (RIP), it was rated to tow 3600 lbs.
People seem to like towing stuff with their Vanagons, but I hope that doesn't involve hills. :P