Does the Mazda5 qualify?
Those were the only recent sliding side door minivans you could get with a manual transmission (not counting the early days of the minivan when almost everyone offered a stick).
It may not have a stellar EPA rating, but don't forget a properly driven manual will spank the EPA ratings. Harder to do with the automatic vans. Real world results of the
Mirage CVT vs. Mirage 5-speed manual are a case in point.
The challenge would be finding one of course. They didn't sell in big numbers overall, and the manual would be a fraction of those sales.
But that's what I'd get. Might as well enjoy driving while driving for a living.