I don’t understand why you are ruling out the Sienna and the Odyssey if you are buying a used minivan. You might have buy one with more miles on it to get one under $10,000 miles, but I wouldn’t necessarily rule them out for that reason.
Nonetheless, I believe either the Kia or the Hyundai (don’t remember which one), is pretty highly rated by Consumer Reports. See if you can get your hands on CR’s used car buying guide and use it as a starting point. It might be available at your library.