Might be a little smaller than you’re thinking, but here goes. We still have more to learn about things like ground clearance, but this winter we added a Toyota RAV4 Adventure model to our fleet after long looks at Subaru and comparable. Drove it all winter, then got back into our RAM for some backroad exploring and driving. Holy cow… We missed that RAV4 terribly, and were never in any circumstance where I felt it would have been too low. But for anything short of serious 4WD like you might attempt with your Wrangler, it will certainly work for you.
Here are the specs. Note that the Adventure model is different than all the other RAV4’s with more ground clearance and locking full time 4WD. We were sold by the 3500# towing capacity compared to about 1k less for Subaru. We’re actually getting 31MPG on ECO mode at 70mph, dropping to 29MPG when speeds top 75. Really roomy, to the point that with the front seats tilted forward I can actually lay down in the back. After riding 13 hours one way with a friend in his Subaru, I can tell you that it was a relief to get into our RAV4 for the drive back. Much more comfortable seats and more headroom. Plenty of leg room for my 6’4" frame with 33" inseam, too.
One more point worth adding: In addition to Subaru we took hard looks at small SUV’s from Dodge, Chevy, Ford, Nissan, Lexus and Audi. None could match up for the combo of 4WD, towing capacity, comfort and especially mileage.