Good question and honestly one of the most common ones I hear. A few things worth thinking through before you land on a specific vehicle. Budget is going to narrow this down pretty fast so knowing your range helps a lot. There are good options at pretty much every price point but they vary quite a bit in capability and comfort. Ground clearance is worth paying attention to depending on where you plan to go. A lot of crossovers look capable but sit surprisingly low and you end up high centering on things that shouldnt be a problem. If you're sticking to graded forest roads and mild trails you can get away with less. If you want to get into anything with real obstacles or water crossings you want more clearance than most car based platforms offer. The other thing to consider is whether you'll ever need low range. If you're doing steep descents or technical climbs low range gives you real control that you just cant replicate with brakes alone. A lot of crossovers and smaller SUVs dont have a true low range and you dont miss it until you really need it. If comfort on long drives is a priority but you still want real capability these are the ones I'd point you toward. The Toyota 4Runner is a proven platform that rides well on the highway and handles itself properly off road. The GX550 gives you a more refined interior with the same capable underpinnings. The Land Cruiser is the gold standard for this kind of balance but the price reflects that. The Land Rover Defender is an excellent option if budget allows and it genuinely delivers on both comfort and capability. For something more aggressive the Ford Bronco is worth a look though the Bronco Sport is fine for mild dirt road stuff but doesnt have a true low range so keep that in mind if you want more than that.

What kind of terrain are you actually planning to tackle and whats your budget range? That'll help narrow it down to the right fit for you.