Ah, you didn't mention you'll be leasing, in which case if AutoEurope state that they guarantee your model of choice then go by that. I can't compare the C3 to a Toyota Camry as I have no experience of one however having looked at pictures online I would suggest that it's larger than a C3 and certainly has more boot capacity. With the C3 I would imagine that you might just about fit you and your wife's luggage in, if your friends are bringing similar then you can forget about it, in fact you may struggle to find a car that would comfortably accommodate all that luggage. The Berlingo might manage the luggage but bear in mind that you may have to remove the parcel shelf which exposes your luggage to opportunistic thieves.
Personally I wouldn't choose either car but in the circumstances you're in, including the amount of luggage then I would opt for the Berlingo. I'm not sure what your friend means when describing the ride as being like a pickup truck, I've not ridden in many but a decent, new pickup should drive no diferently than most new cars within reason. Neither the C3 or Berlingo are going to have much oomph so the drive factor isn't going to matter much, I'd focus more on space particularly with four adults in the car.