Yes, renting a moving vehicle can be a hassle. But I think you can have an equally large hassle with Hertz or another company that rents vehicles primarily for travel. If they're out of an SUV, or minivan, they can put you into a car without any recourse. Okay, maybe you'll get a discount, but that Taurus won't help you move that furniture.

If I were you, I'd probably book an actual van. I've had pretty good luck with Penske for this. Not only are these vehicles a bit more scuffed up (so you don't have to worry about damaging the interrior of that cloth ford expedition) but it is much easier to move something in and out of it.