For small size SUV like the ones you listed, I actually prefer the Subaru Forrestor. But it too is built on a car chasis like others have mentioned. If you do not have to go the small SUV route, I would laso prefer a truck based chasis and would go with a Toyota Tacoma extra cab with a camper shell. It is rugged, powerful enough, low maintenance and has storage.

I am considering another vehicle too as our BMW X3 will barely hold our stuff for family camping. But my wife wanted a smaller vehicle...another story.

The H3 was a consideration but it is under powered.
A Land Rover is too expensive.
A Forrestor (which we had before and is great) or a CR-V (which we almost bought) is small. Also, the all wheel drive on the CR-V is primarily a front wheel drive and not a true all wheel drive.

My friend's Toyota extra cab truck with a camper shell and V8 engine has great power, cavernous storage space and better gas mileage (about 20 mpg) with regular unleaded than my car and my wife's X3 has using premium. So I was thinking Toyota Tacoma in a V6 with a camper shell would probably serve us well. Toyota is known by all of my mechanic friends for reliability and minimal servicing issues.