The Fiat Ulysse was part of a joint venture with PSA Groupe (Peugeot Citroen) which produced vans and MPVs at the Sevel-Nord plant in France. The Ulysse, Peugeot 806/7, Citroen Synergie/C8 and Lancia Zeta/Phedra were the MPV versions of previous generation mid size panel vans offered by each of these brands (except Lancia) - the Citroen Jumpy, Fiat Scudo and Peugeot Expert.
Fiat has since dropped out of the joint venture (in favour of using Chrysler-derived platforms) and Toyota has joined it, as has Vauxhall now that GM Europe has been swallowed by PSA. The Citroen Spacetourer, Peugeot Traveller, Vauxhall Vivaro Life, and Toyota ProAce Verso are all essentially the current version of the Ulysse you remember, built in the same factory for the same purpose. They are, however, much closer in design/execution to the vans they're based on (the body is virtually identical this time). One of the results of the shared production line is that the seats are fully removable to transform the car back into a van, more or less. However, in the current version rows two and three are benches mounted on rails rather than individual chairs, which means that they can be unwieldy and heavy to remove.
As I understand it, the only other MPVs on the market at the moment with fully removable second and third row seats are also van-based: the VW Caravelle and Transporter combi, Mercedes V-class and Vito Tourer, and Ford Tourneo Custom. The Hyundai i800 is also van-based but I've read that the middle row is NOT removable.
If you want height from a car where the seats fold flat into the floor, then as well as the SEAT Alhambra/VW Sharan (identical cars, built on the same production line in Portugal) and the Ford Galaxy also consider the Citroen Berlingo, Peugeot Rifter and Vauxhall Combo Life (again, all the same car) in XL long wheelbase form. The third row is completely removable in two halves and the middle row folds flat into the floor, while you get considerably more height from the van body. Much better fuel economy than the Alhambra/Sharan/Galaxy too.