Have a look at the 3.3 litre V6 Nissan Pathfinder. I had the 1998 TI model that comes with aircon, ABS, dual airbags, 6 stacker CD and a few other creature comforts. I spent another $1,000 on a Dtronics chip that gave me around 150KW. It is genuine 4WD with high and low range and took me into some serious 4WD bush tracks and was better on the beach than many larger and heavier 4WDs.
The missus loved it around the city as it was an auto with overdrive and not truck like to drive. It is a 5 seater.
And it is rated as 2000kg towing so It had no problems at all towing a largish boat that I had.
Before I bought it 2nd hand I also looked at the 3.4 Litre Prado. The Prado was bog standard, no ABS, Single air bag, no CD. It was also $4,000 more expensive. I never regretted the decision to go with the Pathy and my son bought it off me a year ago for $8,000.
You would easily get one under $10,000 and have a really nice 4WD.