To replace the sucralose, I find about two drops of half-concentration liquid sucralose (that's the two-ounce size, here) per 16-to-18 oz. serving does the trick. About a teaspoon of sugar should do the same. When sweetened, it doesn't taste less vanilla-ey to me, but mileage may vary.
You can buy EZ-Sweetz or other liquid sucralose brands lots of places. I'd recommend the half concentration (two drops = the sweetness of one tsp. sugar) because it's easier to adjust the amount. You can add a drop to your pitcher, shake, taste, add another drop, repeat until you find the sweetness that's right for you.
Or, that much sugar won't add too many calories. It's 16 calories a teaspoon, and you probably won't need more than five teaspoons a pitcher.