Where are you? In the UK you can easily fit 2 kids seats into something like a VW Polo or mini
Buy smaller strollers that are easily foldable, instead of bulky ones. Buy smaller and softer bags so they can fill every gap. Buy car seats that are a bit less space taking. The only time we were in a bit of trouble with space was when we went on a big vacation with 4 people. But that happened only once (admittedly, we usually takes flights when going on vacation).
My car isn't one of these modern, ever-growing ones, but it's not particularly small in most respects either.