Vehicle choice advice

A $10k gladiator will be completely clapped out. And its hardly a reliable rig when new.

$10k will buy a nice Honda Crf300l. This budget doesn't compute.

An XJ is a great option for a couple. Worthless for a family of 4.

This is why we get rid of the family car and replace it with something camp worthy. 10k + a new truck? Maybe. Sell everything. Start over. Or abandon overlanding, and car camp, or air travel.

The wife's request for all 4 under one roof, is RV'ing. Id switch to RV'ing, or toss the wife's request.
 
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We have your needs almost exactly and use an 1995 80 Series Landcruiser. Really surprised no one else has mentioned one of these. We do NOT RTT, but you do you. My son does and uses a RTT that he throws in my face when we first get to camp. We use the Gazelle T Hex Hub and love the space.
 
A $10k gladiator will be completely clapped out. And its hardly a reliable rig when new.

$10k will buy a nice Honda Crf300l. This budget doesn't compute.

An XJ is a great option for a couple. Worthless for a family of 4.

This is why we get rid of the family car and replace it with something camp worthy. 10k + a new truck? Maybe. Sell everything. Start over. Or abandon overlanding, and car camp, or air travel.

The wife's request for all 4 under one roof, is RV'ing. Id switch to RV'ing, or toss the wife's request.
Missed the price cap. ha ha. I would keep the F150 he has and build that. We have settled on keeping our F150 and building it to a travel rig. Scout camper, bike rack, etc on it. Go everywhere, Do everything. 4 season camper too so we can use it in the winter as well.
 
For this:
OP said-
"My needs:
ability to carry a 4 person RTT
Sit 2 adults, 2 kids around 10
Reach backcountry camping spots
Carry cooler/camping supplies for family of 4 for trips of 2-3 nights"

Ford Excursion, even Expedition, 4x4, 5.0, want to haul gear? F-150, 4x4, 5.0, my old '99 was in cherry shape, clean, shinny, good body and frame, nice interior, towing package in the XLT with 87xxx on the clock.......even had new KO2's on it, sold-$10,000.00!

Super cab F 150, find a used topper and you're golden!