Estate, on your numbers, and here is the reasoning rather than a preference.
Fuel. 60km a day is about 14000km a year of mostly motorway. A crossover version of the same car typically uses somewhere around 8 to 15 percent more fuel at motorway speed because it is taller and less slippery, and it usually weighs more. Over four years that difference is not trivial and it recurs every year.
Space. Boot volumes are often within a few litres of each other, and the estate usually has the longer, lower load floor, which is better for a dog and much better for anything heavy. The SUV gains headroom you do not need.
Parking. 5.1 metres is tight. Estates are frequently the longest body style in a range, so measure the actual model rather than the class. This is the point that might decide it for you against my own recommendation.
What the SUV genuinely gains you: seat height. Getting a child in and out of a seat at hip height rather than bending into a low car is a real, daily, physical benefit, and it is the reason parents keep buying them. If your children are in high back boosters and climbing in themselves, that argument is much weaker than it would be with a rear facing baby seat.