OP - You need to separate requirement from "desirement".
In your original post, you talk about "like" and "feel"....well, those aren't the same as actual requirements...and suggest emotional thinking when what you need is clear, rational, analysis.
Looks like you need:
1. Something that can tow your boat
2. Safe transport for wife and kid
3. A way to get to work
You only need one boat-capable car. Just one. You're spending a ton on gas and maintenance to have two.
If you need a truck for work, to haul tools, perhaps, then OK, but I suspect you only need reliable wheels to get to work.
Combine the two SUVs into one newer one. That fits 1. and 2. above. She gets the new(ish) SUV. Your Sentra is the way to get to work.
Two cars, one SUV.
Or, you drive an older pickup (boat-tower and way to get to work) and she gets - yep, a minivan. Safe, economical, practical.
Two vehicles, one pickup, one other car. No SUV.
But you absolutely need to go from two SUVs to one. Stop driving big, gas guzzling monsters that require a ton of maintenance. You're spending more than you can afford on cars.
The clear way to reduce that is to reduce the number of cars you own and reduce the number of guzzlers that you own.
*For the record, both my current cars are gas guzzlers. The Mercedes S600 isn't an economy car, neither is the Tundra. But my fuel, maintenance, and payment budget for ALL my cars, ALL of them, is less than 1/5 of what I invest every month. I'll say that again - I invest 5 times what I spend on cars. Every month. My budget is in balance with life's priorities. Within that context, driving a guzzler is a choice that I can afford.
When I was at your point in life: kids, tight budget, I absolutely drove some uncool cars. A 1970 Fairlane wagon, with no AC, for example, in the early 90s. A complete beater. But zero payment. Zero depreciation. Near Zero insurance, taxes, and maintenance. People made fun of the Fairlane. OK. Fine. What I wasn't spending on car payments in those years, I was investing. The modest (few hundred $$ every month) investment nearly three decades ago is now a considerable portfolio. I couldn't afford a cool car then. I sure couldn't afford a guzzler or maintenance pig. I could've paid for it, but the cost would've been that I had nothing left over to invest. That opportunity cost simply wasn't worth it, despite everyone laughing at my slightly dented, slowly rusting 20+ year old Ford.
