I would go with the 99-03 Vitara/Tracker in the 2 door, with the 2.0L (which has slightly more power than the 1.6L). If you are hauling more than one person &/or a pet, then get the 4 door version, as they fill up quickly. These 2nd Generation vehicles are " good for daily driver use and decently comfortable ", they are also adaptable (in case you decide to modify it also). There are many members here that are modifying theirs as they venture further off the pavement, but they also do quite well with just more agressive tires and good driving skills (4x4 means you can go further before you get stuck, if you aren't careful).
If you are in the RUST BELT, then get the newest that isn't already rusted out you can afford.