My 1990 toyota 4Runner is the most fun midsize suv I've ever driven. It gets great gas mileage and still has the off road capabilities (even in stock form) that you just don't find anywhere else. It has plenty of room for whatever you need to carry around and enough tow capacity that you should be fine as long as you're reasonable. My favorite thing about the truck (especialy being an off roader) is its reliability. I had one problem and that was a gasket in the radiator cap cracked and I just bought a new cap for $9. Simply it's tons of fun and a very reliable, cool, and capable truck.
It's just a straight up fun thing to drive, and it's so reliable that you can rest easy knowing that you will get where you are going.
Well if your like me then I'd add bigger wheels and tires. 31s look great, but aren't that important.