We are also a Toyota family. In fact, we just traded in a 1987 Dodge Dakota (farm truck) for a 1996 Tacoma.

Our 'go to' car is our 2004 Toyota Matrix. With hitch rack, we can easily carry 4 bikes (for us, it's usually only 2) and with full fold-down seats, removable cargo carpet and a hatch glass that lifts up even with the bikes on the back, it works for everything. We actually opted to keep it over the Prius because the Matrix highway milage with bikes on the back was THE SAME as the Prius highway milage with bikes on the back! And the Matrix gave us much more internal room due to more head space. We can easily cart 2 70+ lb dogs, luggage, gear, two bikes and Christmas presents for 6 people from NC to FL in one comfortable trip.

Oh, and milage averages about 30 mpg - bikes on the back or not. Ours now has 86K miles on it and it runs like brand spankin' new.