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Mazda5 is an elevated wagon, based on Mazda3. It seats 6 adults (I tried it myself). It is flexible and easy to drive.

Odysessy is a minivan. It rides like a minivan and drives like a minivan (means big and utility).

If you like to drive a car, pick Mazda5. It also gives you some decent space for its size.

If you have extended family (grandpa, 2+ kids, a dog, etc.), minivan is a better pick.

Safety-wsie, I won't see one is better than the other. It depends on the driver and luck.