We bought a year ago a second hand Renault Espace and we are very happy with it. very confortable, lot of space when only using 5 seats, with the 7 seats the space is still ok but if you are going to use full time the 7 seater you are better off buying the grand espace.
I found it very reliable, we haven't yet encounter any trouble (touch wood) with it, the car is 4 years old unfortunately it is a bit pricey.
My cousin went for a safira but he told me he would have much prefer to go for an Espace but couldn't afford it, he find the Safira ok.