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A Nissan Frontier, Xterra, old Pathfinder, or old Jeep Cherokee XJ. Tacomas and 4Runners are overpriced.
Subaru Outbacks are good for dirt roads and unbeatable for snow, but I wouldn't take one actual offroading. The rear seats fold down flush with the trunk so they're pretty easy to turn into a camper as long as you don't mind side sleeping with your legs bent.
