If you do this, you'll be driving around much more car than you need, which is wasteful. Sure, a Sprinter gets great gas mileage (but those are not EPA numbers, because the EPA doesn't gather that data on medium-duty vehicles), but a Prius gets much, much better fuel economy and costs less.
Toyota has been talking about a family of Prius-branded vehicles, such as the Prius coupe (small hybrid) and Prius van. Eventually, those will be interesting vehicles in their segments. Until then, the best midsized car on the market gets 50 EPA MPG, and the best large minivan gets 20 EPA MPG.
Since you already own a minivan, I recommend you use it for trips with the family. Sleep outside the vehicle, in tents when it's warm, or a cabin when it's cold. That frees you up to get a smaller vehicle for commuting. You could even haul a few weeks supplies in a compact hatchback, as long as you don't need to bring the whole family shopping.
Size is the enemy of good aerodynamics. 0.294 Cd is one thing, but remember that Cd is always multiplied by frontal area to give CdA. Also, crosswinds are a much bigger drag on a longer vehicle than a shorter one.
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