I have recently bought a second hand Peugeot Partner Teepee which is an ex Motability car. It has been adapted for wheelchair/scooter use and has a sloping area behind the seats and a ramp. It can accommodate 5 persons or three and a wheelchair/scooter. It is higher off the ground and easy to get in and out of.
It is perfect for me as I do not walk very well and I use a scooter. Just fold down one pair of seats and drive in the scooter. I have the same scooter as you have. Mine does not have a winch, but I am sure that could be added, if required.
The Berlingo equivalent is more or less the same car.