I have to agree with the other response you got, about just trying some out and see. Take a list with you to dealerships of what your wants, wishes and price point you are looking for. Always give them a price point a little less then you are willing to spend for they always try to sell you something a little more expensive (my experience). Other things you might want to take in to consideration is the seat height, if there is a back door (like a SUV) then if they have door assist (button push) then of course how and where will you be driving mostly or hauling if you travel etc...
We just bought a new vehicle last year and I wish I would have thought about that back door assist, now I know, duh on me. We chose something that was the height of our bed, slide on, slide out. Doors are good for us. The area in which we live is hilly so parking on a slant is normal, the door weight needed to be for that reason, to push and pull. Leg room of course, then accessories for any equipment you or hubby might have to use, now days its having enough USB ports LOL I have an oxygen condenser and tanks that need to travel with us at times so having room for those is a must, with out deep reaching in to a trunk as you stated. Thank goodness it's not all the time travel with the oxygen yet. We found that a small SUV or a "Cross Over" was helpful. If we would have still had medium to large size dog, we would have to had a little bigger vehicle yet. We miss our mini van though, but it did not survive a man hitting us, but it kept us safe and sound.
In the mean time while you are searching for your new vehicle. May I suggest that you or someone take a look at the hinges of the doors on your current vehicle and see if cleaning them and maybe doing a little 3-1 oil on them would be helpful to get the swing a little easier for you. Can't hurt to try or yes it could pending on whom is doing it.
Good luck!