You already have the equity loan so the 10,000 is in your pocket now.
Call your lien holder and get your payoff on the SUV. It is going to be less than the 10,000 you owe on it. It might be 1000 or 1500 less because of the interest. Pay it off with the 10,000 and then sell it outright to a dealer or private party and get a new car. I would suggest you look into a small SUV 4 door just for the protection and comfort or your wife and child. You can get one of those for 18-20 thousand, and for the 8 or 9 thousand you have in your pocket (after selling your old SUV) you would only be making payments on 10 or 11 thousand of it.
You would have a new car, smaller, less expensive and better gas mileage. Lets face it in today’s world house payments and car payments are just a fact of life, minimize them as much as you can, but unfortunately they will always be with us, well for most of us anyway.