It’s hazy. It depends on your need to seat either adults or small children in the third row. The X is in the size class of SUV where regular third row use is viable, but it’s still harder to work with car seats or to climb back there. A minivan’s being boxier allows a full width third row and easier access through the middle row.
Compromises in loading and unloading passengers become tiring with an SUV if your main use is city/highway transportation and you have 5+ family members. Older elementary is the only age where SUVs work fine since they don’t need any help but are small enough to easily squeeze back there (plus they think it’s fun.)
Large SUVs make fewer seating comfort/utility tradeoffs but they’re a lot more expensive than vans, so perhaps economical seating is part of the distinction. The Sienna and Pacifica are the nicest van hybrids and are around $30k less than the X.