Normally I'd wonder about the suitability of a Wrangler or an Xterra for long trips, but if you've been fine with the ride and noise levels of an H1 a Wrangler shouldn't be too far off.
Jeep only recommends towing 3,500 lbs with the four-door Unlimited, not with the two-door, probably owing to the latter's much shorter wheelbase.
If you're considering the Wrangler and Xterra, you should probably also check out the Toyota FJ Cruiser. If reliability is at all a concern, the Toyota is easily the best of the three in this area.
The Cherokee would be smoother, quieter, more comfortable, and much more fuel-efficient than any of the hardcore off-roaders. If you're not going to be engaging in severe off-roading, but want more off-road capability than the typical crossover offers, it's the most practical choice. Overall reliability has been about average, but some people don't like how the transmission behaves and feels. If you find one used, it could be one traded by an owner who disliked the transmission enough to take a hit.
In the future, once used ones are available, the new Land Rover Discovery Sport could also be a contender. It's new, so we have no reliability data on it. Past compact Land Rovers haven't been as troublesome as the large ones.