For household errands/tasks/etc' - I have a '97 Isuzu Rodeo LS 4WD (it's actually from my college days purchased brand-new in mid 1997) & it's been bullet-proof in ~13 years / 105k miles of ownership. I used to reside in the northeast & I wasn't afraid to go offroading in the past. Other than basic maint'/service (fluids, filters, wear-&-tear consumables), I haven't had to do any other major repairs.
My sis' has a 1st gen' Honda Pilot EX-L AWD ('03 model purchased in late 2002) also w/ 105k miles. The fit-&-finish, build-quality, and overall feel of it is excellent. It feels much more solid & well-built than latter models (IMVHO). Other than basic scheduled maint'/service, the only unanticipated repair was a replacement transmission ~5k miles ago (Honda comp'd a good bit of the repair cost & offered a 3-yr/36k-mile warranty). Early Pilot/MDX models seem to have sporadic transmission issues, which seems to be truly random. Otherwise, they are exceptional vehicles for their respective price-points.
My cousin had an early '00s Nissan Xterra, and a local-area friend had a mid '00s Xterra. Personally speaking, they felt a bit cheap & shabby to me. They looked rather cool & appeared to be very versatile in terms of lifestyle w/ equipment/accessories, but I found them to be very unrefined & uncomfortable.
With all this/that said, I don't think you can go wrong w/ a Nissan Pathfinder or Toyota 4Runner. And obviously Honda Pilot & Acura MDX are also very competent offerings to consider.
FWIW, if I didn't need the utility capabilities of an SUV, I'd consider an AWD sport-wagon/sport-sedan such as something from Subaru. . .