Best way to trade up an Infiniti QX60?

I have a 2022 QX60 lux trim that I own outright. 23k miles never had any issues. I have 3 kids now and it’s a real pain to use the third row with car seats since it has a second row bench. I’d like to trade up for a QX60 with captains chairs so one kid can walk through to the back. What is the best way to do this – should I go to a dealership and have them price out an all in deal? Sell the car myself somewhere then buy? I only use it for a short commute so I don’t think it makes a lot of sense to lease 12k miles and drive 6k. Carvana is saying it’s worth $29k which seems fair, are they the best way to do this swap?