I've got a first gen tacoma (2004), it's perfect for what you're describing. They hold their value, but that also means you'll have a hard time finding a good one for less than $6-$7k. If taken care of they'll run 400,000 km easily. Very capable off road even in stock configuration, has a rear diff lock although they are the weakest link I believe.
I also used to have a 2011 Xterra. Great SUV, I wouldn't hesitate to recommend one. My only complaint with it was it always felt like it was in the wrong gear. When at highway speed it was either at the top of one gear or struggling in the next. Minor complaint about automatics more than xterra's I guess. P4X edition has different gearing which maybe would have helped.
Taco:
https://i.imgur.com/KtWo1k3.jpg
Xterra:
https://i.imgur.com/vOZ2DUW.jpg
Edit: I also can't figure out photo posting here....url's it is.