There is no best choice for everyone, but these differences shorten the road.
SUV: more seats, more luggage space and higher ground clearance. It suits long trips, unpaved roads and larger families, though it usually uses more fuel.
Sedan: cheaper on fuel, easier to park and drive in the city, and often cheaper to maintain. It suits small families and daily use.
Think about what you do most during the year, not the rarest trip you take.