By your own numbers, 40% of families consist of 5 or more people. That's a pretty hefty chunk.
And sure, technically you can fit five people in a sedan, but it ain't comfortable in the slightest, especially when you have carseats. An SUV or minivan is much more practical for this 40% chunk of US families.
And as mentioned elsewhere, it's not always just the mom/dad and kids. You might have the family dog, band instruments, friends, non-core-family relatives, a month's worth of groceries, etc.
Plus, even as one person, I've gotten a lot of good use out of my Highlander because I can fold down the seats and haul relatively-large things (like furniture) and keep the seats up and drive people around without having to own two separate vehicles to do it. As a bonus, AWD and all-terrain tires means that I can do these things during snowstorms and/or on unpaved mountain roads with relative safety and ease compared to your run-of-the-mill FWD (or - worse - RWD) sedan (the latter activity is niche, for sure, but the former is typically routine for vast majority of car-owning Americans living north of the Mason-Dixon Line).