I've been getting by with a Commodore wagon for a few years. I use it for work where I occasionally have to carry a fair bit of stuff around. Have done a lot of country driving and plenty of gravel roads which are okay but the clearance is not good enough for anything but the better roads. I don't think the clearance of these SUV type vehicles is all that great at around 150-180mm but it's a lot better than a car. Camping has tended to be in the more accessible areas but I'm keen to get out onto a few more fire trails but I don't expect to do major river crossings and climb over boulders etc.
By the time you get to some of the higher spec versions of these 7 seater SUVs the price is approaching the Prado which I sort of consider except it's a bit of a truck like most real 4WDs.
I've got a good deal on a Pathfinder but I'm a bit nervous about them although the newer versions are supposedly better. It's all so confusing...