Really? I dislike the feel of driving an SUV, but I find minivans to be lumbering beasts. Granted, I haven't had the displeasure of driving a minivan in many years (whereas I have had the displeasure of driving SUVs recently), so maybe they've gotten better.
They are not particularly fast, but for just ride comfort they are superb. Both the Sienna and the Pacifica have very comfortable seats and very good noise dampening.
But because their profile is much more aerodynamic and they are lower to the ground, they just drive very smoothly. Especially when covering long distances on the freeway.
It's also amazing to be able to open every door and control every feature with a physical button on the dash and be able to haul full sheets of plywood in the back.
My personal cars have all been sporty little manual hatchbacks, but if I just wanted all out comfort it's really hard to beat a well equipped mini-van.