Suburu Forester

step-daughter has one and camps out of it...very reliable and good on fuel and does well on semi-offroad. when I say off-road for the Forester, I mean more of the unpaved service roads and fire roads, etc.
slightly bigger tires would help clearance some.
not a bad platform to work with and it does have decent room in it considering its a car. I had a Subaru in highschool back in the 80s and it was very reliable and the engine was very tough...I abused it like a teenager is supposed to and it took it with no problems
 
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We took our Rav 4 to Ouray a couple summers ago. Camped by a creek in Ironton the old Ghost town location off the million dollar highway.
There are limitations to a rig like that. But I would definitely not let it sway me in not getting out there. This summer I plan on going on a Overlanding trip taking the road from Ridgeway to Telluride finding somewhere suitable to camp. Then enjoy Telluride and some of the wonderful things to enjoy there! Then head over to my favorite town. Ouray camping somewhere near the town. So much to see and do down there. You don't need to have a full blown rig to enjoy the tame easier trails, but it helps to know which ones are appropriate for your vehicle.
CHEERS,