Vince, something that meets all of your expectations within your budget would be hard to do but i do have a one suggestion...
A 2003-2007 Ford Expedition
These are usually ez to work on, pretty bulletproof even with higher miles. You will not get great gas mileage nor will it be easy to park in a big city. But if you can find a clean one that has been well cared for it might be your best for the money. The 4.6 and 5.4 engines are both good solid engines that can see 300,000 if they are maintained. Your family will be safe as they were rated well in crash worthiness. Most are set up with trailer tow from the factory. Alot of them also have auto 4x4, you can leave it in auto 4x4 all of the time and it will auto engage the 4x4 when it senses a loss of traction.
We owned a 2003 model that we later traded in because of the fuel crunch, and i really missed it!
Ok, hope this helps!!