We have an 07 Toyota FJ Cruiser. Stickers for 30,303.00 and advertised MPG of about 17-19. I paid less than that, and last tank got 22.5mpg driving speed limits. Its 4 door, plenty of room inside, rides great, looks awesome, very reliable, tows good, off roads great.
If you want used, 4Runners are going for low 20ks. Very nice trucks, but are somewhat small inside. I can't tell you much about other brands, but if I had a say, I would tell you to get Toyota.