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.