While the TCH may feel smaller, it's actually an inch or so bigger in terms of footprint.

My wife and I drive TCHs, and we have retained our 2003 Highlander for hauling stuff from the home center and for our two soon-to-be-licensed teenage boys to drive. I'm reasonably tall and there's no doubt that there's more legroom in the TCH. Headroom, of course, is much better in the Highlander.

RE: the trunk. We do fine with daily trips like groceries. (Remember the words "two," "teenage," and "boys" above, and you can get an idea of how many groceries we pack in the small trunk.)

I'll admit, however, we're taking the Highlander on vacation for the trunk space. My guess is that you'll do ok for the small amount of luggage you describe, though.