Not in my case, as a matter of fact during the exhaust recall of my 06 concept Mazda5 model (LOL) I got a brand new Mazda MPV as a loaner. Nice 5AT, 6cyl and all the top trim luxuries.
I could feel a big difference in driving (granted, my Mazda5 is 5MT) and overall handling, even to park, tight turns and to drive around to work.
You are right, as per space, it was awesome, but not really needed in my case. I hauled tons of stuff as we were moving into a new place. But in general, the Mazda5 had the right size for us...
Oh, and wife didn't even want to drive the MPV during that time, don't ask (boom02)