Comfortable for the long haul.
2003 Toyota 4Runner SR5
The Toyota 4runner has the reliability that you would expect from Toyota. It can take me anywhere with the room and power my family needs. From groceries to yard sales to camping, I can find a way to haul what I need and some of what I don't. That being said, it will cost me; as it has a big gas tank and power, all wheel drive, all the time. The better option is the newer models that give you the ability to switch between drives, so it is there for you if you need it.
Overall, I haven't found a more comfortable ride for the long haul.