Welcome, and my personal preference would be the XJ Cherokee between the two you posted. The newest CJ7 would be 26 years old, runs a wheezing carb'd I-6 engine, and has fairly stiff leaf springs. The oldest XJ is 25 years old, but the first few years are definitely avoidable. You can pick up a late-model XJ and run rampant with mods but it's going to be a great platform to start with.
If "their is 5 in my family" means you are looking for a vehicle to haul five people, the XJ will fit five as long as they aren't too big.